Abstract: Compared with the traditional dexterous hands, which have the great cubage, excessive DOFs and complicated controlling as well, a sort of new-patterned mechanical hand (TH-1 hand) is designed. And the introduction for the design thought, the analysis process of the grasping power and micro-driver-control system are given. TH-1 hand’s motors, reducers and their driver circuits are embedded completely into its palm. This hand is designed as the human hand in many ways including its appearance and size which have many characteristics, such as light, few DOFs, easy to control, com- pact, strong adaptability. The experiments show that TH-1 hand is applicable to the humanoid robot. It can achieve stret- ching, making a fist and grasping an object steadily.

Key words: Driver circuit, Humanoid robot hand, Power analysis, Robot technology