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Posture, Workspace, and Manipulability of the Metamorphic Multifingered Hand With an Articulated Palm

<02>This paper introduces for the first time a metamorphic palm and presents a novel multi-fingered hand with a foldable palm that makes the hand adaptable and reconfigurable. This links to the invention patented as ‘Metamorphic Robotic Hand’ and EU patent, US patent and China patent that was granted in 2011. The novel robotic hand generates more poses than other comparable hands and attracted great interest from industry, humanoid research and prosthetic research. The novel robotics hand attracted two EU grants (TOMSY 270426 & ECHORD 231143), one incoming EU grant (Squirrel) and incoming collaboration with Bill Townsend (Barrett Technology, Inc CEO).