University of Southern California
Belgrade/USC Hand Model II
This entry is specifically Model II; Model I and later variants are not merged into its specifications.
Price
Not disclosed
Type
Components · Dexterous Hands
Status
Research prototype
Availability
Not disclosed
Release Date
Unknown
Country/Region
United States
Latest parameter verificationLatest individual parameter check, not a full-model review or edit date.
2026-09-23
4 controlled DOF per hand
Active degrees of freedom
14
Mechanical joint count
5 fingers
Finger count
Belgrade/USC Hand Model II is a historic underactuated anthropomorphic dexterous hand. Four DC servomotors drive five fingers; the index/middle and ring/little pairs are mechanically coupled, while the thumb performs opposition and flexion. Literature records use in grasping research, but reports disagree on its date, so no release date is recorded.
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Technical specifications
Model specifications are shown below. Configuration-specific values are listed separately; missing data does not mean zero or unsupported.
Degrees of freedom and drive
Finger count
5 fingers
Actuator count
4 DC servomotors
Actuator technology
DC servomotors
Active degrees of freedom
4 controlled DOF per hand
Mechanical joint count
14
Materials
Aluminum fingers (Model II)
Total degrees of freedom
4 independently controlled DOF
Transmission mechanism
Mechanical linkage with rocker-arm coupling
Joint Motion Range
120°
Mechanical Structure
End-Effector
Anthropomorphic end effector for robot manipulators
Joint Type
Revolute joints with parallel axes
Sensors
Force/Torque Sensor
Piezoresistive fingertip force/contact sensing
Tactile Sensor
23 pressure sensors
Commercial Status
Status
Research prototype
Price
Not disclosed
Release Date
Unknown
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