This paper designs a new five-fingered robotic hand with a camera. Several morphological features of the human hand are integrated to improve the appearance of the hand. The drive system of this hand is under-actuated to eliminate the weight of the hand and to embed all the actuators inside the palm. Despite of this under-actuation, this hand can grasp objects in several different ways. In addition, the two different transmissions are adopted to drive the fingers according to their roles. These transmissions help not only to improve drive efficiency but also to secure the space of the embedded camera.

In this paper, an under-actuated robotic hand is designed for realizing several different grasps. Three special transmissions are developed to realize the compact joint connected motion, connected motion among fingers and adduction/abduction. These transmissions reduce the volume and weight of the hand while maintain functions necessary for realizing desired grasps. The developed robotic hand can choose three different opposed positions of the thumb to realize four different grasps. Experiments are conducted to confirm that the robotic hand moves fast and stably grasp objects.