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Current anthropomorphic robotic hands mainly focus on improving theirdexterity by devising new mechanical structures and actuation systems. However,most of them rely on a single structure/system (e.g., bone-only) and ignore thefact that the human hand is composed of multiple functional structures (e.g.,skin, bones, muscles, and tendons). This not only increases the difficulty ofthe design process but also lowers the robustness and flexibility of thefabricated hand. Besides, other factors like customization, the time and costfor production, and the degree of resemblance between human hands and robotichands, remain omitted. To tackle these problems, this study proposes a 3Dprintable multi-layer design that models the hand with the layers of skin,tissues, and bones. The proposed design first obtains the 3D surface model of atarget hand via 3D scanning, and then generates the 3D bone models from thesurface model based on a fast template matching method. To overcome thedisadvantage of the rigid bone layer in deformation, the tissue layer isintroduced and represented by a concentric tube based structure, of which thedeformability can be explicitly controlled by a parameter. Besides, a low-costyet effective underactuated system is adopted to drive the fabricated hand. Theproposed design is tested with 33 widely used object grasping types, as well asspecial objects like fragile silken tofu, and outperforms previous designsremarkably. With the proposed design, anthropomorphic robotic hands can beproduced fast with low cost, and be customizable and deformable.

Fast 3D Modeling of Anthropomorphic Robotic Hands Based on A Multi-layer Deformable Design