This research is concentrated on the development of dexterous grasp and the re-grasp planning algorithm using a robotic hand. (Grasping algorithm)

The robot hand has 13 degrees of freedom. On each joint, the BLDC motor is attached. So the robot hand can do precision movement by using the harmonic driver. The robot hand also has J/T sensors and 6-axis F/T sensors on each finger modules.

This subject deals finding grasping point and force on the object. Also, when the robot hand did grasp, the processor decides that the current status satisfies force closure using sensors. If the current status does not satisfy force closure, then the robotic hand will change its position and force.