scholarly journals 4 Modelling and Controlling the Compliance of a Robotic Hand with Soft Finger-pads

2005 ◽  
pp. 55-73 ◽  
Author(s):  
L. Biagiotti ◽  
P. Tiezzi ◽  
G. Vassura ◽  
C. Melchiorri
Keyword(s):  
Robotic Hand ◽  
Soft Finger

scholarly journals Trigger-Based Dexterous Operation with Multimodal Sensors for Soft Robotic Hand

2021 ◽  
Vol 11 (19) ◽  
pp. 8978
Author(s):  
Haiming Huang ◽  
Junhao Lin ◽  
Linyuan Wu ◽  
Zhenkun Wen ◽  
Mingjie Dong
Keyword(s):  
Information Acquisition ◽  
Robotic Hand ◽  
Decision Unit ◽  
Autonomous Choice ◽  
Gas Channel ◽  
Multimodal Sensors ◽  
Choice Decision ◽  
Contact Sensor ◽  
Sensor Detection ◽  
Soft Finger

This paper focuses on how to improve the operation ability of a soft robotic hand (SRH). A trigger-based dexterous operation (TDO) strategy with multimodal sensors is proposed to perform autonomous choice operations. The multimodal sensors include optical-based fiber curvature sensor (OFCS), gas pressure sensor (GPS), capacitive pressure contact sensor (CPCS), and resistance pressure contact sensor (RPCS). The OFCS embedded in the soft finger and the GPS series connected in the gas channel are used to detect the curvature of the finger. The CPCS attached on the fingertip and the RPCS attached on the palm are employed to detect the touch force. The framework of TDO is divided into sensor detection and action operation. Hardware layer, information acquisition layer, and decision layer form the sensor detection module; action selection layer, actuator drive layer, and hardware layer constitute the action operation module. An autonomous choice decision unit is used to connect the sensor detecting module and action operation module. The experiment results reveal that the TDO algorithm is effective and feasible, and the actions of grasping plastic framework, pinching roller ball pen and screwdriver, and handshake are executed exactly.

A simplified model of a multi-jointed mechanical finger calibrated with experimental data by vision system

2021 ◽  
Vol 235 (1) ◽  
pp. 164-175
Author(s):  
C Cosenza ◽  
V Niola ◽  
S Savino
Keyword(s):  
Experimental Data ◽  
Vision System ◽  
Control Strategies ◽  
Image Correlation ◽  
Robotic Hand ◽  
Prosthetic Device ◽  
Prosthetic Hands ◽  
Mechanical Hand ◽  
Free Mode ◽  
Mechanical Finger

The development of suitable models for mechanical fingers, whether they are part of prosthetic device or of a robotic hand, is a powerful tool to predict the behaviour of their components since the early stages of design, especially for underactuated mechanisms. Experimental data can improve the reliability of such models and promote their application to build proper control strategies especially for prosthetic hands. Here, we have developed a multi-jointed model of a mechanical finger. The finger is part of the Federica hand: an underactuated mechanical hand that was conceived for prosthetic purpose. The model accounts for friction phenomena in the finger and it is tuned with experimental data acquired through a digital image correlation device. The model allowed us to write kinematics relations of the phalanges and evaluate finger configurations in relation to the closure velocity. Moreover, it was possible to estimate the tendon force and the work analysis occurring during the closure tasks, both in free mode and in presence of objects.

Feedback control of a pneumatically driven soft finger using a photoelastic polyurethane bending sensor

2021 ◽  
pp. 1-16
Author(s):  
Yoshiki Mori ◽  
Mizuki Fukuhara ◽  
Mingzhu Zhu ◽  
Yuho Kinbara ◽  
Akira Wada ◽  
...  
Keyword(s):  
Feedback Control ◽  
Bending Sensor ◽  
Soft Finger

Bone Fracture Reduction Surgery-aimed Bone Connection Robotic Hand

2021 ◽  
Vol 18 (2) ◽  
pp. 333-345
Author(s):  
Jianxing Yang ◽  
Yan Xiong ◽  
Xiaohong Chen ◽  
Yuanxi Sun ◽  
Wensheng Hou ◽  
...  
Keyword(s):  
Bone Fracture ◽  
Fracture Reduction ◽  
Robotic Hand

Design of an Underactuated Robotic Hand

2020 ◽  
Author(s):  
Yingchong Zhao ◽  
Qujiang Lei ◽  
Jiaxun Liu ◽  
Yukai Qiao ◽  
Xiuhao Li ◽  
...  
Keyword(s):  
Robotic Hand
Sign in / Sign up

Export Citation Format

Share Document