UBH 3: A Biologically Inspired Robotic Hand
F. Lotti, P. Tiezzi, G. Vassura L. Biagiotti, C. Melchiorri, G. Palli
DIEM, University of Bologna,
Via Risorgimento 2, 40136 Bologna, Italy
fabrizio.lotti@mail.ing.unibo.it
paolo.tiezzi@mail.ing.unibo.it
gabriele.vassura@mail.ing.unibo.it
Abstract
This paper describes a work in progress at the Uni-
versity of Bologna concerning the design of a new
anthropomorphic robot hand. The overall hand is
based on an innovative mechanical architecture, which
adopts deformable elements as joint hinges. This de-
sign leads to an endo-skeletal structure particularly
suitable to host a distributed sensory equipment and
a continuous compliant cover, allowing a high level of
anthropomorphism together with great structural sim-
plification, reliability enhancement and cost reduction.
Furthermore, the proposed solution is very flexible, as
it can be adapted to many different end-effector con-
figurations and is not dependent on a particular type
of actuation, being compatible with future availability
of any kind of artificial muscles.
1 Introduction
In the last years the development of humanoid
robots has received a great impulse due to the per-
spective of new application fields and tasks to be
performed, such as servicing, assistance, entertain-
ment, space exploration and so on. In the field of
robotic hands, anthropomorphism has been explicitly
addressed by a number of recent research projects,
namely the NASA Robonaut hand [1], the DLR hands
[2], the Karlsruhe University Ultra-light hand [3], the
GIFU hand [4], the UB hand II [5] and others.
Despite the hands proposed so far exhibit a wide range
of acceptable solutions as far as their functionality
is considered, most of them are too complex, bulky,
expensive and unreliable for practical use outside a
research laboratory. In the authors’ opinion design
simplification and achievement of high dexterity lev-
els must not be considered conflicting goals, provided
that traditional approaches to hand design are over-
come and new concepts must be explored. This is par-
ticularly true for what concerns the mechanical archi-
tecture of the hands, usually inspired to very classical
solutions, but can be extended to many other aspects,
like sensory equipment, actuators design and control.
A promising way, inspired to the human hand model,
is to abandon design concepts based on exoskeletal
structures, previously adopted by most of the existing
robot hands, in favor of the adoption of the endoskele-
tal model. This goal requires the design of an inter-
DEIS, University of Bologna,
Via Risorgimento 2, 40136 Bologna, Italy
lbiagiotti@deis.unibo.it
cmelchiorri@deis.unibo.it
gpalli@deis.unibo.it
nal articulated framework (the “skeleton”), moved by
transmission elements routed along its surface (the
tendons) and surrounded by an external compliant
cover (the “soft tissues”) that hosts the sensory equip-
ment and plays a crucial role in the interaction with
the manipulated objects. This design concept is quite
different from the exoskeletal approach, because ten-
dons, sensors and wiring must not be placed inside a
hollow structure, but around a slender articulated in-
ner frame.
Different kinds of articulations may be considered for
the design of an endoskeleton, and simplified struc-
tures based on compliant hinges seem a worthy way
to be investigated. Previous work in this direction has
been described by the authors in [6, 7]. By a proper
choice of materials and processes (see e.g. Hatanaka
and Cutkosky [8]) compliant hinges may be integrated
into the rigid links, thus obtaining one-piece articu-
lated structures that are compact, light, easy to be
manufactured, simple to be integrated with external
sensors and compliant covers. In this paper a fur-
Figure 1: Last prototype of UBH 3.
ther step in the application of the compliance-based
endoskeletal model is reported, and a considerable
amount of innovation both in the finger and hand con-
figuration and in their technological implementation is
shown.

Figure 2: Endoskeleton structure of UBH 3.
The main goals of the UBH 3 (University of Bologna
Hand, version 3) project are a high level of anthropo-
morphism together with a very simple and lightweight
structure. Due to its simplicity this robotic hand
achieves improved reliability and low cost. The UBH 3
is a multi-fingered hand with an opposable thumb; the
fingers are linked to a palm structure and each of them
has four joints that can be individually actuated or
coupled to other joints. As a consequence, each finger
can have up to four degrees of freedom. In Fig. 1 and
Fig. 2 the last prototype is shown; in the first picture
the hand is covered by soft pads while in the second
one the endoskeletal structure is illustrated.
2 The articulated finger structure
The finger is made of rigid elements (the phalanges)
connected through elastic hinges that allow relative
motion due to self bending. This structure presents
four joints: the proximal allows adduction-abduction
(yaw) motion, while the intermediate and the distal
ones allow finger bending. Each joint is actuated by
forces exerted on the phalanges by remotely actuated
tendons, that slide inside routing paths along the fin-
ger structure and pass through the hinges along their
bending axis. After early attempts (see Lotti and Vas-
sura [6]) to develop monolithic fingers with hinges and
tendons integrated into a single item, this new version
adopts different materials for the hinges, the phalanges
structure and the tendons. The way to route the ten-
don paths inside the finger has been considerably im-
proved. This novel design (patent pending) is sketched
in Fig. 3. The inner structure of each finger is a con-
tinuous framework obtained by plastic moulding with
inclusion of the elastic elements that form the hinges
and work, at the same time, as routing paths of the
tendons. In the present implementation hinges are
made of steel spiral coils that are used also as sheath
for tendon routing. This solution allows to avoid as-
sembly operations and obtains a simplified structure
with a reduced number of parts, easy to be manufac-
tured, cheap, yet fully efficient and compatible with
the required functions.
The distal hinge is not crossed by any tendon, while
the hinges placed up-stream progressively see an in-
creasing number of crossing tendons. The result of
such a design provides a reduced cross section, very
suitable to be covered with a thick external compliant
layer to reproduce the soft tissue of the human hand.
See Fig. 4, where the actual size of the robotic finger
is compared with that of a human one. Furthermore,
this real endo-skeletal structure leaves room to sen-
sor housing and signal cable routing with continuity
all along the finger. The use of soft pads is helpful
because it allows to enlarge the contact area, thus ob-
taining enhanced robustness against disturbances, to
better adapt on objects with edges and others surface
irregularities and to better sustain and damp dynamic
effects like shocks and vibrations. In general the use of
soft robotic finger increases the grasp robustness and
stability [9].
A relevant feature of the proposed solution is that
the joints are, approximately, kinematically indepen-
dent and each tendon causes the deflection of only one
joint at a time. This is due to the fact that the ten-
don paths are very close to the neutral bending line
of each joint. Furthermore a tension load applied to a
tendon does not cause appreciable bending effects on
the joints that are crossed by it. The joint bending
stiffness greatly depends on the hinge design (shape,
size, material) and it can be exploited in order to actu-
ate joint reverse motion, using the tendons in order to
actuate only the finger inwards bending. The choice
of the proper hinge bending stiffness is a very critical
matter. On one side, a high stiffness may have posi-
tive effects on the final robustness of the whole finger
structure and on the finger dynamical response, on
the other it will cause unacceptable growth of the re-
quired tendon loads and the consequent increase of the
power required to the actuators. A trade-off must be
founded. To this aim, the experimental set-up, shown
in Fig. 6, has been implemented. In this testbed linear
motors are used to actuate the finger, while the forces
provided to the tendons and the actual positions of
Yaw motion
Bending
Elastic hinge Tendon
Tendon sheaths
Proximal tendon
Medial tendon
Distal tendon
Figure 3: Scheme of the tendons path in the finger
structure.

(a) (b)
Figure 4: The soft finger module.
phalanges are measured by means of load cells and a
high-resolution video camera. Through this setup it
is possible to investigate some fundamental aspects of
the finger, in particular the kinematical and mechani-
cal models, which are fundamental in the optimization
phase.
Furthermore, the elastic hinge concept and its techno-
logical implementation can be extended to joints with
an increased number of d.o.f.. As a matter of fact, in
the finger structure, schematically reported in Fig. 3,
joints with non parallel bending axis need separate
hinges. Two degrees of freedom can however be in-
tegrated into a single joint (see Fig. 5.(b)). The two
d.o.f. motion can be controlled by means of three ten-
dons disposed at 120 degrees. This architecture shows
interesting properties because it is more compact and
more similar to the kinematical behavior of some bio-
logical articulations. Moreover, due to the use of three
antagonist tendons, the control of the joint stiffness is
greatly improved. This configuration is already imple-
mented in the thumb of the hand skeleton, shown in
Fig. 2, and it will be probability adopted in the wrist
of the hand/arm system.
3 A family of hands
The proposed design shows great versatility and al-
lows the development of many alternative hand con-
figurations with the the following important features:
• Modularity. The hand is obtained repeating a
modular finger built by low cost moulding pro-
cess. The complexity of the system can be cus-
tomized according to the needs of the applica-
(a) (b)
Figure 5: One-dof hinge (a) and two-dof hinge (b)
based on compliant mechanism.
tion. For example, a three fingered device could
be enough for easy grasping tasks, while in tele-
operated space applications the use of five fingers
could allow a good reproduction of the human
hand dexterity.
• Possibility to change the actual number of d.o.f.
without changing the finger structure. The
adopted kinematical configuration is suitable for
a reduction of the number of d.o.f. by coupling
some of the joints. This strategy, for example,
may be applied to connect the distal and medial
bending motion to mimic the human finger be-
havior. Furthermore, by adopting elastic coupling
devices between the linked joints it is possible to
obtain self-adapting grasping procedures. This
configuration could be very interesting for pros-
thetic applications, that are strictly conditioned
by low bulk and weight requirements and do not
admit a large number of d.o.f..
• Compatibility with any kind of linear actuation.
The adopted finger design is not dependent on
a particular kind of actuation and it is compati-
ble with future availability of new actuators, e.g.
artificial muscles.
4 Beyond the mechanical structure
The dexterity and, on the other hand, the com-
plexity of a robotic device are the result of the me-
chanical design as well as of the sensor choice, the
actuation system and so on. Therefore, in order to
achieve the main goals underlying the overall project,
a deep integration between all the constitutive parts is
needed. Furthermore, the mechanical structure of the
hand, quite different from the traditional technology,
requires new sorts of sensors and new control algo-
rithms.
4.1 Sensory apparatus
The research activities is currently focused on the
selection of a proper sensor apparatus, able to com-
pensate for the side effects of the mechanical arrange-
ment (e.g. backlash of the tendons in the sheaths, un-
Video camera
Finger Tendons Load cells Linear motors
Figure 6: Setup for finger structure characterization
and position sensors calibration.
desired deformations of hinges, friction inside the ten-
dons’ sheaths, etc.) and enhance the capability of the
anthropomorphic hand. A set of position sensors lo-
cated into the joints must be add to the systems, even
if, in principle, the motors’ sensors could be enough to
perform some kind of control (e.g. impedance control)
and some operations (grasping). Moreover, to perform
fine manipulation tasks, which need to exactly know
the magnitude of the exchanged forces and the exact
position of contact points, force and tactile sensors
must be inserted.
4.1.1 Position sensors
In order to estimate the relative positions between the
links of the finger, a measure based only on tendon
lengths is not sufficient. On the other hand, the pe-
culiar structure of the joints (without a fixed rotation
center) makes it difficult to find a suitable position
sensor. In fact, the standard robotic technologies (e.g.
potentiometers) require well-defined paths. In order to
obtain a sensor, reliable (without sliding parts) and
enough repeatable, different physical principia have
been considered.
A simple solution, reported in Fig. 7.(a), is based on
the Hall effect: a linear Hall-effect sensor is located
in one side of the joint and a magnet is faced in the
other side. While the joint is closing the distance be-
tween these elements decreases and accordingly the
magnitude of the magnetic field, detected by the sen-
sor, increases. The response of the sensor, shown in
Fig. 8, is strongly non-linear, and, in particular, its
sensitivity is quite reduced when the joint is “opened”
(0o ). Moreover, in this configuration the effect of ex-
ternal magnetic or ferromagnetic elements can be very
relevant. In order to achieve the advantage of the hall-
effect sensor (non-contact sensing) without the same
drawbacks (in particular, the dependance of the out-
put on an external magnetic field), an optical sensor
has been developed. This device, shown in Fig. 7.(a),
exploits one of the elastic sheaths of the finger: a pho-
todiode, emitting red light, is located in one end of the
sheath while the other one hosts a photo-transistor,
which detects the amount of light received. When the
joint closes, the intensity of the light is modulated by
Light emitter
Elastic hinge
Light receiver
Elastic hinge
Magnet
Hall-effect
sensor
(a) (b)
Figure 7: Joint position sensors: hall-effect based (a)
and optical (b).
the curvature of the hinge (because of reflections), and
the sensor output is “proportional” to the bending an-
gle. The signal coming from the sensor is reported in
Fig. 8, where it is compared with the one produced by
the Hall-effect sensor. The characteristic of the sensor
is again strongly non-linear, but in this case the max-
imal sensitivity is achieved for small angle values (the
light comes directly from the emitter to the receiver),
where most part of the manipulation operations hap-
pens. By properly adjusting some parameters of the
sensor (this activity is currently ongoing), i.e. by given
an initial bending which prevent a direct view of the
two elements of the sensor or by changing the distance
between them, it is possible to change such a char-
acteristic and enhance the sensitivity for bigger angle
values. It is worth to notice that the physical principle
adopted makes this sensor insensitive to external ele-
ment (the soft-cover can easily shield the sensor from
the light of the environment).
If an high resolution, in the overall range of variation
of the joint angle, is required, the two last sensors can
be used together: as shown in Fig. 8 their outputs are
perfectly complementary and if properly fused they
lead to a high precision estimation in every configura-
tions.
In the 2 d.o.f. joint shown in Fig. 5.(b), since the elas-
tic hinge can move in the 3D space and not only in a
plane, the sensing principles above mentioned can not
be exploited, and at least two information are neces-
sary in order to estimate the relative position between
the two links. In this case, the obvious solution consist
of the measure of the tendon displacements. Such a
measure has to be performed as close as possible to the
joint, therefore a miniaturized position sensors (which
must be located into the finger base) has been devised,
see Fig. 9. It is composed by a magnet (or a number
of magnets, according to the desired resolution) fixed
to the tendon. When it moves the magnetic field, de-
tected by a Hall-effect sensor, changes and a position
measure is therefore achieved.
A common drawback of the sensing technologies
above introduced is the difficult procedure of calibra-
1
light based sensor
hall−effect based sensor
0.9
0.8
0.7
sensor output (V/Vmax)
0.6
0.5
0.4
0.3
0.2
0.1
0
0 10 20 30 40 50 60 70 80 90
angle (deg.)
Figure 8: Static characteristics (bending an-
gle/voltage) of the magnetic and optical joint position
sensors.
 Hall-effect sensor
Magnet
Tendon
N S

Magnetic field

(a)

Magnet Hall-effect sensor

Tendon

(a) (b)
Magnetic field

Figure 10: Load cell prototype (a) and its placement

(b) in the hand structure(b).

Figure 9: Working principle of the tendon position
sensors based on a hall-effect sensor: one magnet (a)
and multiple magnets(b).
tion. In order to simplify this process, the setup of
Fig. 6, is used. It allows to compare the joint angle
values, estimated by means of the images coming from
the video camera, with the sensors’ output.
Alternatively, in order to keep the finger structure
(and hence the overall end-effector) as simple as pos-
sible, a control based on visual servoing (and on the
measures of tendons’ elongation given by sensors on
the motors) can be implemented [10] (this possibility
is currently evaluated, by means of the same setup
used to make the calibration).
4.1.2 Force sensors
The actuation chain based on tendons produces non-
negligible levels of static and viscous friction. In or-
der to perform fine manipulation tasks and apply very
small forces on the environment, force and tactile sen-
sors are, therefore, necessary. Such sensors can be
used for two different purposes, which require specific
characteristics:
location of the contact points. To this purpose, tac-
tile array sensors are profitably used [11].
To make the sensory equipment consistent with the
overall project (inspired by criteria of simplicity and
reliability) we have designed a sensor able to detect
the force provide by the tendons to the joints.
Fig. 10.(a) shows the load cell, composed by a
deformable structure monitored by classical strain
gauges. It has been integrated into the connection be-
tween the tendon and the actuated phalange (see the
cad model in Fig. 10.(b)), allowing a direct measure
of the forces exchanged with the environment, with-
out the error due to the friction between the sheaths
and the tendons. The output of the load cell is very
linear and does not dependent on the joint angle, as
reported in Fig. 11
Furthermore, the adoption of a soft layer of visco-
elastic gel is particularly suitable for an integration
of distributed tactile sensing capabilities. Some ex-
perimental activities have been performed in order to
test the interactions between the gel and a tactile sen-
sor (the use of a commercial single element pressure
sensors has been investigated [12]). The presence of
Load cell response

• force control;
6

5.5

• task planning. 5
Sensor output (V)

4.5

In particular force control, and more generally interac- 4

3.5
tion control, requires sensors with a very high band- 3

width but, in general, quite simple as regard struc- 2.5

ture and functional capabilities. Classical examples 2

100
80
are joint torque sensors or tendons strength sensor, 60 80
100

60
while more complicate sensors often adopted in dex- 40
20
20
40

terous manipulation are multi-axis force sensors and Tendon tension (N)
0 0
Joint angle (Degrees)

intrinsic tactile sensors [11].

Conversely the planning of the operations to be per- Figure 11: Static characteristic of the load cell (with
formed requires not only a precise estimation of ex- respect to different joint configuration).
changed forces but also the knowledge of the exact
the gel layer (3 mm thick) reduces the sensitivity of
the sensor, and above all makes the dynamic of the
sensor very slow. The reason of this behavior is due
to the gel which, after the initial application of the
external force, changes its configuration, distributing
the external pressure on the overall underlying surface
(also outside the sensitive area of the sensor). This fil-
tering effect of the pulp makes the use of this sensor
for control purposes very difficult, but the use of a
similar sensor (with a finer resolution) is not excluded
in order to known the contact location and properly
plan the tasks to be performed.
4.2 Actuation subsystem
The structure of the hand is compatible with any
kind of “artificial muscles” (to be hosted in the fore-
arm of the arm/hand system), able to apply linear
forces on the tendons. The strongest constraint con-
cerns the value of strength required to achieve the de-
sired performances (i.e. the application of a force of 10
N with the fingertip). The relation between the joint
torques (τ ) and the applied by motors to the tendons
(F ) can be roughly described by:
rd sin(θ0 − θ)
τ=
F
r2 + d2 − 2rd cos(θ0 − θ)
where d, r, θ0 are geometric parameters of the me-
chanical design, which in the current implementation
are equal to d = 20mm, r = 9mm, θ0 = 150o , while θ
is the joint angle. In the worst case α = 0.0032, that
is a force of about 300N is necessary to achieve 10N
on the fingertip.
In order to obtain such performances, two different
architectures, with different characteristics and aims,
are under evaluation:
a) An actuation system based on McKibben artifi-
cial muscles [13];
b) An actuation system based on rotative brushless
motors and ball-screw (to obtain a linear motion).
The former solution leads to a light and very low-
cost structure, consistent with main guidelines of
Gearing
Load cell
Motor
Worm gear
Tendon
Figure 12: Sketch of an artificial muscle based on
brushless motor and ball-screw.
Diameter 16 mm
Motor DC
Continuous torque 4.4 Nmm
Brushless
Power 15 W
Diameter 16 mm
Gearing
Reduction 1/19
Pitch 1.5 mm
Worm gear
Shaft diameter 5 mm
Max. fingertip force 6.8 N
Tendon load 213 N
Joint closure time (90o ) 0.85 s
Table 1: Main features of the artificial muscle based
on DC brushless motor.
the overall project (that is simplified structure, high-
reliability, low-cost). On the other hand, such a kind
of actuation is only suitable for grasp procedures while
a precise control of actuators’ elongation (and there-
fore of the joints’ position) and of the force exerted on
the environment/object is quite prohibitive. In order
to carry out fine manipulation tasks, the latter so-
lution seems more appropriate. Nevertheless, in this
case, because of the high reduction ratio necessary to
gain the required forces with small-size motors, the ar-
tificial “muscles” result non-back-drivable, and there-
fore not suitable for some control approaches, such as
impedance control [14]. Therefore, in order to com-
pensate such drawback, a load cell has been integrated
in the sliding part of the actuator (where the tendon
is fixed), see Fig. 12. In such a way, by means of a
suitable control strategy, it is possible to recover the
back-drivability of the actuator and obtain an almost
“ideal” force generator (see Tab. 1).
5 Conclusions
In this paper the design of an innovative robotic
hand (UBH3) has been reported. The project ad-
dresses the development of a family of robotic hands,
rather than a specific device, based on the key-idea
of “compliant mechanisms”. In particular, the adop-
tion of an original structure made with rigid links con-
nected by elastic hinges that are coaxially crossed by
flexible tendons, allows a noticeable simplification of
the mechanical architecture as well as an improve-
ment of the versatility in kinematic definition with
respect to early attempts, also based on compliant
mechanisms. The development of an articulated fin-
ger according to this new proposal is presented. This
innovative design approach allows a high level of an-
thropomorphism together with great structural sim-
plification, reliability enhancement and cost reduction.
Moreover this endo-skeletal structure is particularly
suitable to host distributed sensory equipment and
continuous compliant cover. The development of a
sensory apparatus aiming to enhance the overall dex-
terity of the robotic hand is presented, and two alter-
native actuation systems are also taken into account,
in order to show the flexibility of the proposed solu-
tion with respect to the adoption of different types of
actuation. In Fig. 13 the CAD model of the new UBH
3 prototype (with the sensory equipment) is depicted. [8] M. Hatanaka and M.R. Cutkosky, “Process Plan-
ning for Embedding Flexible Materials in Multi-
material Prototypes”, in DETC ASME, Chicago,
Illinois, USA, September 2003.

[9] F. Lotti, P. Tiezzi, G. Vassura, “Poliurethane Gel

Pulps for Robotic Fingers”, in Proc. Int. Conf.
on Advanced Robotics ’03, ICAR 03, Coimbra,
Portugal, June 2003.

[10] I. Infantino, A. Chella, H. Dzindo, I. Macalusi,

“Visual Control of a Robotic Hand”, in Proc.
IEEE/RSJ Int. Conf. on Intelligent Robots and
Systems ’03, IROS 03, Las Vegas, USA, 2003.

[11] C. Melchiorri, “Tactile Sensing for Robotic Ma-

nipulation”, in Articulated and Mobile Robotics
for Services and Technologies”, A. Bicchi, S.
Figure 13: CAD model of the new UBH 3. Nicosia, B. Siciliano, Valigi (Eds.), Springer Ver-
lag, 2001.

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