—To improve the operation and the flexibility of the robot hand, in this paper we presented a new type pneumatic flexible robot hand based on the pneumatic artificial muscles and active flexible bending joints which developed in the previous research. The robot hand is imposed of five three-joint fingers; the middle finger is on the datum axis with the other four fingers orthogonal and symmetrical. The structure of the robot hand forms the dual-thumb oriented grasp model. Furthermore, we solved the large deformation and nonlinear problems of flexible joint perfectly in the posture model of the flexible robot hand, and then the mathematical equations on the four types of typical grasp posture are given respectively. Finally, both the simulation and the experiments were carried out to verify the mathematical model. The results show that the robot hand has good flexibility and compliance that can complete the operation well.
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