**2.2.1 Size**

The size of the hand is based on an android robot which was already mentioned, EveR 3. The model of an android robot EveR 3 is Korean young woman whose height is 165cm and weight is 50kg. When humanoid robots which use real human as model are designed, they use only size like height, length of the limb etc. in general. However, android robots need more strict observation of size not only height, length of joint but also circumference of joint, each part. To make exact reference of model, the original model was scanned by 3D scanner and the scanned data was handled by 3D MAX. From this process, the data which can be used CAD program (Solid works) was earned. This data contained all information of size of original model and this can measure exactly by CAD. The size of hand from original model can be measured exactly, too. The required size data which is needed to realize same size of original model is length of each finger, length of each joint of finger, circumference of each finger, thickness of palm and length of palm. Of course, it is hard to realize exact size of each factor of original model, but this process can help to make a robot hand which is the nearest to human hand than any other existing hands. Fig. 2 shows the real size of robotic hand especially mechanical structure and comparison with real human hand whose is the designer of this hand (168cm, Korean man). Even if this man's hand is small, the robotic hand is smaller than his one. Table.1 shows parameters of main factor which are considered to design.

Fig. 2. Mechanical part of robotic hand and comparison with real human hand.


Table 1. The pamameters of developed android hand.
