Kanguera

Lore & Background

Kanguera was developed by the Mechatronics Laboratory at the School of Engineering of São Carlos, University of São Paulo, as a successor to the BRAHMA hand. It is now in its 4th generation. The hand has an anthropomorphic shape, sized like a large human hand, with four fingers and a simplified thumb, each possessing four degrees of freedom (DOF), totaling 20 DOF from the wrist onward. Each finger is treated as an individual robot, and the joints mimic human joints by using close contact, resin friction, and cables rather than physical connections.

Reader's Guide

Kanguera represents a significant step in biologically inspired robotics, specifically in the development of dexterous robotic hands. By modeling the kinematic properties of a human hand, it provides a platform for creating better anthropomorphic grippers and manipulators. Its 20 degrees of freedom and accurate cable transmission system allow for complex movements such as finger adduction and abduction, which are critical for tasks requiring fine manipulation. The project's objectives include developing strategies for dexterous robotic manipulation and creating new designs for upper limb rehabilitation technologies and user-friendly human-machine interfaces. As a 4th-generation hand, Kanguera builds on its predecessor, the BRAHMA hand, and uses advanced simulation techniques to streamline development. Its indigenous name reflects a cultural connection, while its technical achievements contribute to the broader field of robotic prosthetics and manipulation.

Did You Know?

• Kanguera's name is an ancient indigenous word for 'bones outside the body.'
• The hand has 20 degrees of freedom, with each finger treated as an individual robot.
• It runs the VxWorks 6.7 operating system and uses GraspIt! for simulation.
• The joints are not physically joined but use resin friction and cables to mimic human joints.