Proceedings of The 2020 IEEE International
Conference on Real-time Computing and Robotics
September 28-29, 2020
Bionic Design of a Dexterous Anthropomorphic Hand Actuated by
Antagonistic PAMs*
Daoxiong Gong, Linyu Hao, Jianjun Yu, and Guoyu Zuo

Abstract—Dexterous anthropomorphic robotic hand has very
important applications in service robot for cooperating with
people in the daily living environment and using the tools
specifically designed for people. In this paper, we designed a
dexterous anthropomorphic robotic hand mimicking the
muscle-tendon-ligament structure of the human hand. The
robotic hand possesses the similar Degrees of Freedom (DOF)
configuration of the human hand. Each DOF is driven with a
pair of antagonistic pneumatic artificial muscles, and Bowden
wires are carefully laid for mimicking the tendons of the human
hand to facilitate the motion control of the robotic hand. Rubber
bladders with force sensors are also employed as the skin of the
palm and the finger pad to enable the force control and
compliant manipulation of the robotic hand. As a result, the
robotic hand can reproduce the manipulations of the human
hand, and thus can be deployed on a robot to cooperate with
people or on a homogeneous slave robot to improve its
tele-operation performance.
I. INTRODUCTION
Dexterous anthropomorphic hand has great significance in
both the scientific research and engineering application in the
field of cooperative/teleoperation robot. Dexterous
anthropomorphic hand possesses the similar structure
(appearance) of human hand, as a result, it can realize the same
dexterous manipulation abilities of human hand. Moreover, an
anthropomorphic robot hand instead of a gripper will promote
the efficiency of human-robot collaboration. A person will
feel comfortable, effective, and friendly in the human-robot
interaction if the robot counterpart possesses the human-like
appearance or behavior.
When a service robot is deployed in the unstructured
human daily living environment or a teleoperation robot is
sent to a dangerous place for accomplishing some complex
tasks, there are a variety of objects need to be manipulated as
well as a lot of tools specially designed for human being need
to be used, therefore, a dexterous anthropomorphic hand is
appropriate for these applications. The DLR Hand, the
DLR/HIT Hand II [1, 2], and the NASA Robonaut 2 Hand [3]
are examples of dexterous robotic hand for operating with
tools specially designed for people or for executing
teleoperation tasks in the space station.
*Research supported by the National Natural Science Foundation of
China (Grant number: 61673003) and the Beijing Natural Science
Foundation (Grant number: 4192010).
Daoxiong Gong漓Linyu Hao, Jianjun Yu and Guoyu Zuo are with the
Faculty of Information Technology, Beijing University of Technology, and
the Beijing Key Lab of Computational Intelligence and Intelligent System,
Beijing, 100124, China (D. Gong, Phone: +86-13522129549; E-mail:
gongdx@bjut.edu.cn. J. Yu, e-mail: yujianjun@bjut.edu.cn. G. Zuo, e-mail:
zuoguoyu@bjut.edu.cn).
978-1-7281-7293-4/20/$31.00 © 2020 IEEE 493
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In order to realize the same dexterous manipulation
abilities of human hand with a robotic hand, researchers
studied the grasp and manipulation patterns of human hand.
Melo et al summarized the main anthropomorphic robotic
hands and compared them with the human hand features [4];
Jarque-Bou et al studied the hand kinematic data of human
performing grasps and summarized the kinematic synergies of
human grasping [5]; Feix et al studied the ways of human hand
interacts with grasped objects and arranged 33 unique
prehensile grasp types in the GRASP Taxonomy [6]; Stival et
al also quantitatively studied the taxonomy of the grasp
motion of the human hand based on the grasp shape, the finger
position and the muscle activity [7]. These studies provide a
valuable reference for the dexterous manipulation assessment
as well as the motion control of the dexterous robotic hand.
In order to endow a robotic hand with the similar
compliant manipulation abilities of human hand, researchers
adopt pneumatic artificial muscles (PAMs) as the actuator for
robot hand, because PAMs possess compelling properties in
various aspects, including the inherent safety, high
power-mass ratio, and flexibility of placement, especially the
PAMs possesses the similar actuating features the human
muscle. Two most famous dexterous robotic hands actuated
by PAMs should be the SHADOW Hand [8] and the FESTO
Airic's arm [9]. The SHADOW Hand takes a truly
anthropomorphic approach to robot manipulation with 20
actuated DOFs as well as touch sensors on the fingertips to
achieve the closest approximation capabilities of the human
hand. The FESTO Airic's arm also imitated the structure of
human arm/hand that consists of ulna and radius, hand and
finger bones actuated by FESTO pneumatic muscles.
Researchers studied the structure of human hand and
mimicking the configuration features in the robot hand
designation to realize the human-like dexterous manipulation
abilities of human hand with a robotic hand. Nanayakkara et al
reviewed the particular muscle-skeleton structure of the
human hand, especially the structure and function of the
human thumb, for inspiring the design to improve dexterous
grasping and manipulating capabilities of the robotic hand
[10]; Cotugno et al emphasized the important role of the
human thumb for the advanced human manipulation
capabilities and suggested that the morphology of the human
thumb should be taken as an inspiration for the design of
robotic hand [11]; Konnaris et al designed EthoHand, which
enables complex in-hand manipulation via a thumb with
ball-joint [12].
Some researchers even try to reproduce the dexterity of
human hand in the robotic hand via highly biomimetic design
for grasping and manipulating the daily tools/objects with
human-like dexterity. Xu and Todorov designed a biomimetic
robotic hand that closely mimics the human hand with
 artificial joint-ligament-tendon structure and elastic pulley A. Mechanical Structure Mimicking the Hand Bones
mechanisms [13]; Faudzi et al presented an index finger of Terlemez et al [16] studied the human motion data and
robotic hand that closely replicates the human finger with proposed a unified representation model, i.e., the MMM
bone-ligament-tendon structure, thin McKibben PAMs, (Master Motor Map) reference model, of human body. In this
extensor and pulley mechanism [14]; Tasi et al also designed paper, we propose a kinematic model of human hand based on
an Anatomically Correct, Biomechatronic Hand [15] that the MMM model for reproducing human-like hand
emphasizes the anatomical consistency with the human hand manipulation on the robotic hand. Also, we take some minor
and implements the function of finger-actuation with modifications on the MMM kinematic model, e.g., the
bone-ligament-tendon structure, intrinsic/extrinsic muscles, carpometacarpal (CMC) and the metacarpophalangeal (MCP)
as well as pulley system to realize the same synergistic joints of the thumb finger, for the convenience of manufacture
movements and the GRASP taxonomy of human hand. and actuation.
However, the mechanical structure as well as the tendon Human hand has 22 DOFs. As shown in Fig.1, there are
routing of these highly biomimetic designed robotic hands are two DOFs, i.e., flexion/extension (red arrow) and abduction/
very complex, which may pose a challenge to both the adduction (blue arrow) at the MCP joint, and one DOF at the
manufacture and the motion control of the system. A bionic 1st and 2nd joint of each finger. Linkage effect exist between
robotic hand highly similar to the human hand in construction the 1st and 2nd joint of the four fingers (except the thumb) and
will undoubtedly lead to high complexity in the mechanical it is indicated with brown dashed lines. The purple thin arrows
structure, very expensive to build as well as extremely at the base of palm indicate the capability of relative
difficulty in assembly and control. Therefore, a design scheme movement of metacarpale bones of human palm, which enable
based on the simplification of the internal anatomical structure us to scoop something in our palms.
and biomechanical relations is needed for the robotic hand to
realize the functional properties of human hand.
In this paper, we emphasize the functional similarity to
human hand at the same time simplify the structure to avoid
mechanical design complexity when we design the robotic
hand, especially we try to alleviate the coupling effect of
adjacent DOFs of fingers in favor of realizing the human-like
motion control on the robotic hand. We design a bionic robotic
hand with its 22 DOFs (18 independent and 4 dependent)
driven by antagonistic PAM pairs for mimicking the
muscle-skeleton structure of the human hand. The paper is
organized as follows: The detailed bionic design scheme
based on the human hand anatomy structure, including the
mechanical structures that mimic the hand bones, the
configurations of PAMs and Bowden cables that mimic the
hand muscles and tendons, and the rubber bladders mimic the Figure 1. The human hand’s bones and the DOF configurations
hand skins are specifically presented in section II. Simulations
are carried out to validate the design scheme in section III, in
which the human hand motion capture data from the KIT
Whole-Body Human Motion Database are adopted to
reproduce the same motion on the kinematic model of the
robotic hand. Finally, advantages and characteristics of the
design scheme of the bionic robot hand are discussed in
section IV.
II. BIONIC DESIGN MIMICKING THE HUMAN HAND STRUCTURE
In order to confer the ability of reproducing the motions
and functions of the human hand upon the dexterous
anthropomorphic robotic hand, we plan to achieve the
following design goals: Firstly, the robotic hand should
possess the similar kinematic model of human hand for
performing the same motions of the human hand. Secondly,
the mechanical structure should be as simple as possible for Figure 2. The DOF configurations of the robotic hand
easy fabrication, assembly, and maintenance. Thirdly, the
motion of every DOF should be decoupled for reducing the The DOF configuration of the robotic hand is shown in
coupling effect to facilitate its’ control. We take three Fig.2 and its mechanical structure is shown in Fig.3. Most of
measures to meet these requirements, and these measures are the DOFs are configured as the same as the counterpart of the
introduced in detail as follows. human hand. A modification of the DOF configuration is that
the abduction/adduction DOFs of the three fingers (i.e., the
index, the ring and the little finger) are placed on the root of
the metacarpals, instead of the root of corresponding fingers,

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 and these three joints are implemented with spherical plain
bearing, which enable not only the abduction/adduction
movement of these fingers, but also the transverse metacarpal
arch for holding things with the palms. There is no DOF on the
root of the metacarpal of the middle finger because we take it
as the reference of both the abduction/adduction and the
transverse metacarpal arch motion of fingers. The
modification will bring some advantages. If we
indiscriminately copy the human hand structure in the robotic
hand, the tensile forces of the PAMs actuating the spherical
joint may strongly couple each other, which may increase the
difficulty of the motion control of the robotic joint. We
therefore decompose the motion of the MCP joint into two
orthogonal rotation axes and deploy the abduction/adduction
DOFs at the root of metacarpal bones (except the middle
finger that is set as the reference orientation of
abduction/adduction of the fingers of the robotic hand), every
DOF is driven by a pair of antagonized PAMs, respectively.
Figure 3. The mechanical structure of the bionic hand (front and back view)
TABLE I. THE MOTION RANGE OF JOINTS OF THE ROBOTIC HAND
Joint 1 Joint 2 Joint 3
Thumb 0~90° 0~90° 0~60°
Index F. 0~90° 0~90° 0~90°
Middel F. 0~90° 0~90° 0~90°
Ring F. 0~90° 0~90° 0~90°
Little F. 0~90° 0~90° 0~90°
* The motion of Joint1 and Joint2 of the 4 fingers are coupled with each other. (Shading row)
Because of the mechanical structure of the robotic hand
(Fig.3), the axes of the MCP joint and the root joint of
corresponding metacarpal bone are orthogonal, and their
motions are decoupled via the application of Bowden wires.
The motion range or hardware limits of the joints of the
robotic hand are presented in table 1. The shading rows
indicate that the motion of the Joint1 and the Joint2 of the four
fingers are pairs of coupled joints. The Joint3 of the thumb
represents the motion of the thumb inclines toward the palm,
and the Joint4 of the thumb represents the motion of the
thumb changing its orientation approaching or leaving the
palm plane, respectively.
B. PAM and Bowden Cables Mimicking Muscles & Tendons
Muscles and tendons are attached on the hand bones and
they drive the human hand to realize every kind of dexterous
movement. The configuration of muscles and tendons on the
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front side and the back side of human hand are depicted in
Fig.4. For simplicity, we suppose that every DOF of the
human hand is actuated via a pair of antagonized
muscle-tendon structure.
Figure 4. The tendons of the human hand (front and back view)
We take PAMs as analog of human muscles, and Bowden
cables as analog of tendons to actuate the robotic hand, and
actuate each DOF of the robotic hand with a pair of
antagonistic PAMs and Bowden cables (Fig.5 and Fig.6). A
human hand has both intrinsic and extrinsic muscles, while
we arrange all the PAMs as extrinsic muscles and place them
far away the hand (i.e., at the torso of the robot) to avoid
hindering the manipulation of the robotic hand because of the
volume of the PAMs.
Joint 4 Joint 5
0~45° 瀥瀥
0~15° 0~30°
瀥瀥 瀥瀥
0~15° 0~30°
0~15° 0~30°
Figure 5. The configuration of bowden wires of the bionic hand
Bowden cables are arranged to transmit the actuating force
and motion to the DOFs at the same time to avoid the motion
coupling of adjacent joints. The inner tendon of the Bowden
cable is constrained to move in the curved path of the outer
sheath, consequently, the tendon motion of every DOF will
not interfere each other, and the PAMs will not be misaligned
because misalignment may cause bad effect on the PAMs.
These advantages along with lightweight and space saving
make the Bowden cable very suitable for transmitting the
actuation of PAMs to the robotic hand.
We adopt the deployment of the antagonized PAMs pair
as shown in Fig.6. The antagonistic PAMs pair actuate a joint
via tendons attached on the circumference of a pulley to
remain the contraction and relaxation direction of PAM
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 unchanged, which is good for the installation and application
of the PAMs.
The radius of the pulley can be calculated with the
following formula:
H r-
where, H is the contraction or relaxation length of the PAM,
r is the radius of the pulley, and - is the turning angle of the
pulley, i.e., the rotary scope of the concerned joint.
Figure 6. The arrangement of the antagonistic PAMs for a joint
C. Rubber Bladders Mimicking the Hand Skins
Muscles and skins on the human hand bring human the
capabilities of soft touch and tactile feedback, which is very
important for dexterous robotic hand operating an object or
interacting with human appropriately via both motion control
and force control.
Figure 7. The rubber bladders and fingertip of the bionic hand
Air bladder based pneumatic tactile sensors possess some
special advantages for human-robot interaction. The flexible
air bladder is suit for bending, stretching, and adapting to
different mechanical structure on the robot. Therefore, we
apply air bladders at the robotic hand palm and finger
segments for mimicking the soft muscle pads and skins of
human hand (Fig.7).
An air bladder based pneumatic tactile sensor can sense
the lumping force acted on the chamber by measuring the
pneumatic pressure change in the air bladder [17]. Regular
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textures are designed on the bladders of the fingertip to mimic
the fingerprint (Fig.7) for enhancing the roughness sensing
via the vibration signals, which is generated when the
fingertip sliding on a rough surface.
With the air bladder based pneumatic tactile sensors as the
(1) pad of the fingers, the robotic hand can physically interact
with humans and the environment with the feature of
“human-like compliant touch”. Because of the inherent
compliance of the mediator of compressible air in the bladder,
the robotic hand is able to yield to unexpected impact when it
collides with obstacles (environment or human), and then
accordingly take measures to guarantee the safety of the
human, the robot as well as the environment. With the
equipment of air bladder based pneumatic tactile sensors, the
robotic hand may also explore the environment in a manner of
“action for perception” [18] to obtain the information of the
object’s surface roughness, softness/stiffness, and the
slippage of an object grasped in the hand. Furthermore, the
robotic hand can realize stable grasp and other manipulation
tasks via force sensing and control based on the tactile
sensing information.
III. SIMULATIONS
For validating the design scheme of the robotic hand, we
reproduce the typical daily motion of human hand on the
robotic hand via simulations. The human hand motion capture
data are taken from the KIT Whole-Body Human Motion
Database [19] of the High Performance Humanoid
Technology (H²T) Lab, which shares high-quality human
motion capture data corresponding with the MMM model.
We mapping the human motion capture data to the robotic
hand to reenact the human-like grasping motion on the
designed robotic hand, where the linkage effect between the
1st and 2nd joint of the four fingers are released, because the
motion capture data of the 1st and 2nd joint of the four fingers
in the KIT database are independent.
The simulation results are presented in Fig.8 and Fig.9.
Fig.8 presents the robotic hand grasping some items or
tools with regular shape, i.e., a sphere (golf ball), a cuboid (a
package of crackers), an elliptical cylinder (the handle of a
hammer) , or a circular truncated cone (a cup). Fig.9 presents
the robotic hand grasping some items or tools with irregular
shape, i.e., a cylinder with variable diameter (a spray bottle),
an item with variable shape (the head of a hammer), a slim
curve handle (the handle of a pitcher), or a thin curve slice
(the edge of a bowl). In these two figures, the red lines
indicate the pose of the hand bones, the dashed red lines
represent the initial configuration of the hand, and the solid
red lines represent the final configuration of the hand
grasping a given item; the solid blue lines are the lines
connecting the CMC joints and the MCP joints of the robotic
hand, respectively, therefore outline the pose of the palm of
the robotic hand; the black dotted lines depict the trajectories
of the fingertips of the robotic hand, therefore show the
grasping motion of the robotic hand. The items adopted in the
motion capture experiments are common in the human daily
life environment, and the captured human motion are also
common routines in the human daily life. Therefore, these
simulation results validate that the designed robotic hand can
reproduce those grasping motions of human hand, and the
496
 (a) Grasp on a golf ball
(b) Side grasp on a package of crackers
(c) Side grasp on the handle of a hammer
(d) Side grasp on a cup
Figure 8. The robot hand grasp some itmes/tools with regular shape
robotic hand can be applied to cooperate and co-exist with
human in the daily life environment.
IV. CONCLUSION
In this paper, we studied the design of an anthropomorphic
dexterous robot hand with every DOFs actuated by
antagonistic PAMs. By means of reenacting the human hand
motion of the KIT database on the model of the designed
robotic hand, we validated that the designed robotic hand is
able to perform the same manipulation of the human hand.
The proposed design scheme of the bionic robot hand
possesses the following remarkable characteristics and
advantages:
(1) The kinematic model of the designed robotic hand is
based on the anatomy structure of the human hand with minor
modifications on the KIT model of human hand. This scheme
guarantees that the designed dexterous anthropomorphic robot
hand be able to mimic or reenact the motion of human hand
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(a) Side grasp on a spray bottle
(b) Top grasp on the head of a hammer
(c) Grasp on the handle of a pitcher
(d) Side grasp on a bowl
Figure 9. The robot hand grasp some items/tools with irregular shape
operating a daily object or using a tool specially designed for
human because they share the similar kinematic model.
(2) Every DOF of the robot hand is driven by a pair of
antagonized PAMs via Bowden wires, which are elaborately
deployed to mimic the muscle-tendon-ligament structure of
human hand and to decouple the motion of every DOFs. It
makes the motion of every DOF independent, which is
favorable for achieving the human-like manipulations on the
robotic hand via the most common and intuitive scheme of
joint-to-joint motion mapping.
(3) The air bladder based pneumatic tactile sensors are
applied to the robotic hand endowing it the ability of
“human-like compliant touch” and “human-like tactile
sensing”, which will be benefit for a robot equipped with the
proposed robotic hand to co-operate with human beings for
fulfilling certain tasks.
Dexterous anthropomorphic robot hand is one of the hot
issues of modern robotics and has a wide range of applications.
 In future study, we will carry out the following works: (1) the [19] C. Mandery, Ö. Terlemez, M. Do, N. Vahrenkamp, and T. Asfour, “The
human-like motion control of the bionic robot hand for KIT Whole-Body Human Motion Database”, Proceedings of the 2015
realizing the GRASP Taxonomy; and (2) the machine learning International Conference on Advanced Robotics (ICAR), pp. 329 - 336,
2015.
of the robotic hand to acquire knowledge for using some tools.
As a result, the designed robotic hand can be applied to a
service robot for improving its performance of cooperating
with people in the daily life environment, or applied to a
homogeneous slave robot for improving its performance of
using tools specially designed for people in the
tele-manipulation applications.

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