5-Finger 12-DOF Hand
- Thumb, index and middle fingers : 3 DOF per finger
- Ring and little fingers: totally 3 DOF
(2 underactuated flexions, 1 coupled ab/adduction)

Impact Absorbing Actuators
- Actuated by BLDC motors and ball-screws
- Impact and overload absorbing clutch mechanism

To be improved
- Adding a 2-DOF wrist mechanism
- Soft and robust skin with fluid lubrication
- Reducing actuator size, and so on ...

% Supported by Bionic Hand Project of
National Research Foundation of Korea(NRF)
funded by the Ministry of Science & ICT

% Accepted at IROS 2019