P Samandizadeh - Undergraduate Student, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
A.H.D Markazi - Professor, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
E Khanmirza - Assistant Professor, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran
A Karamali Ravandi - Assistant Professor, School of Mechanical Engineering, Iran University of Science and Technology, Tehran, Iran

Dexterous robotic hands are not very popular in production lines. Complexity in mechanism and operationmakes such hands less appealing for conventional industrial applications. In this paper, a structurally simple roboticfinger with 3 degrees of freedom, named Yasin is designed and fabricated. Compared to other similar designs, the newmechanism is less complicated to build and maintain, and is better suited for control purposes in low cost applications.Numbers of driving motors, which are located in the forearm, are just a few for better similarity with human hands, interms of number of axles and their relative motions. On other hand, lengths of the tendons are not fixed for differentmovements. Instead the overall length of the cables used for induction of force from one finger to another is fixed. Thegeneral structure of the proposed mechanism is explained and elaborated.

Dexterous robot hands, low cost humanoid robotic finger, under-actuated joints, flexible tendons