Metahand 3, metamorphic robot hand, Centre for Robotics Research, London, United Kingdom

This video demonstrates in-hand rotation by using only palm motion.

In-hand rotation, along with shift, complex rotation, finger to palm translation and palm to finger translation are the basic elements of in-hand manipulation. In-hand simple rotation and twisting motion are easily achieved with the KCL robotic hand since there is no need to move the fingers; all motion is generated by using the joints of the articulated palm.

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King's College London Metamorphic Hand

This video demonstrates the dexterity of the KCL Metamorphic hand by folding a complex origami carton. The hand has a unique feature, namely the metamorphic palm. This articulated mechanism greatly enhances the dexterity of the hand allowing it to perform tasks requiring dexterous manipulation of objects.

This particular version of the hand is controlled by a multilayer embedded control system designed to provide the user with a simple interface. Force control was used during this experiment. Position control is another option.

Project was supervised by prof. Jian S. Dai.
This research was funded by EU PF7 project TOMSY.

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This video demonstrates the use of two robotic hands to fold a free standing, origami type carton.

Only one arm was available so one hand is fixed on the work surface. As a workaround, the main hand moves the object in relation to the stationary hand as necessary.

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A new generation of the metamorphic robot hand with three fingers has been successfully developed by fully exploring the intrinsic properties of the articulated palm. The innovative design of the tendon path for underactuacted fingers mounted on moving couplers of the articulated palm decouples finger motions from the palm motion. This light-weight metamorphic hand has a compact forearm equipped with only five motors and six compliant modules which are able to accommodate an overload on the tendons in both active and passive modes.

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This is a test of the Metahand3 on grasping a tube, one of the toys in the list of objects in the frame of an EU project.

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This is a test of the Metahand3 on grasping the cube, one of the toys in the list of objects in the frame of an EU project.

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This is a test of the Metahand3 on grasping of various objects.
The ball is one of the toys in the object list with in the project.

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This is a test of the Metahand3 on grasping the giraffe, one of the toys in the list of objects in the frame of an EU project.

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