In this paper, we describe the hardware and control architecture of a novel four-fingered dextrous robot hand. The benefits of the unusual arrangement of the fingers (which resembles that in raptors and other birds) in the hand are discussed. Kinematic models for the fingers and transmission system are presented. A simulation and real-time control environment has been developed for the hand, and is discussed in the paper. Experiments in dextrous and dynamic manipulation using the hand are also detailed.

We consider the grasping and manipulation strategies of raptors, focusing on the particularly successful case of the osprey. The osprey makes superb use of its two four-digit feet, each of which has five degrees of freedom. As manipulation strategies exploit not only quasistatic but also dynamic grasping, particularly in fishing, for which the bird is highly renowned. We investigate the unusual kinematic design of the osprey foot, and consider the capabilities of the foot for achieving stable grasps. We also perform a dynamic analysis of the osprey in fishing, where the talons dynamically impact the fish. Implications for robot hand design and dynamic grasping are discussed.