Dual Arm Humanoid Torso equipped with 32DOF

•Anthropomorphic Design

•2 Arms with 6 DOF each

•Five fingers hands with opposable thumb and a total of 20DOF

•Actuated by 32 Motors  controllable in position and velocity via a PC interface

•Designed with state of the art 3D CAD and Virtual Reality Tools

•Developed with light materials  (Nylon PA66, Aluminum, PVC)

•Main Control Interface fully integrable in Matlab Environment via USB/RS232

Hand Kinematics:

-Servomotors are integrated inside the finger

-3 rotational DOF in the thumb and index fingers

-2 rotational DOF in the medium and annular fingers

-1 rotational DOF in the little finger

-The second and third phalanxes of each finger are coordinated by a cross tendon. This allows
to make the flexion movement more anthropomorphic and requires only one actuator.