An Affordable Linkage-and-Tendon Hybrid-Driven Anthropomorphic Robotic Hand—MCR-Hand II

2021 ◽  
Vol 13 (2) ◽  
Author(s):  
Haosen Yang ◽  
Guowu Wei ◽  
Lei Ren ◽  
Zhihui Qian ◽  
Kunyang Wang ◽  
...  
Keyword(s):  
System Integration ◽  
Mechanical Design ◽  
Low Cost ◽  
Score Test ◽  
Human Hand ◽  
Robotic Hand ◽  
Level Control ◽  
Robotic Hands ◽  
Driven Systems ◽  
And Control

Abstract This paper presents the design, analysis, and development of an anthropomorphic robotic hand coined MCR-hand II. This hand takes the advantages of both the tendon-driven and linkage-driven systems, leading to a compact mechanical structure that aims to imitate the mobility of a human hand. Based on the investigation of the human hand anatomical structure and the related existing robotic hands, mechanical design of the MCR-hand II is presented. Then, using D-H convention, kinematics of this hand is formulated and illustrated with numerical simulations. Furthermore, fingertip force is deduced and analyzed, and mechatronic system integration and control strategy are addressed. Subsequently, a prototype of the proposed robotic hand is developed, integrated with low-level control system, and following which empirical study is carried out, which demonstrates that the proposed hand is capable of implementing the grasp and manipulation of most of the objects used in daily life. In addition, the three widely used tools, i.e., the Kapandji score test, Cutkosky taxonomy, and Kamakura taxonomy, are used to evaluate the performance of the hand, which evidences that the MCR-hand II possesses high dexterity and excellent grasping capability; object manipulation performance is also demonstrated. This paper hence presents the design and development of a type of novel tendon–linkage-integrated anthropomorphic robotic hand, laying broader background for the development of low-cost robotic hands for both industrial and prosthetic use.

An Optimization Approach to Teleoperation of the Thumb of a Humanoid Robot Hand: Kinematic Mapping and Calibration

2014 ◽  
Vol 136 (9) ◽  
Author(s):  
Lei Cui ◽  
Ugo Cupcic ◽  
Jian S. Dai
Keyword(s):  
Input Device ◽  
Human Hand ◽  
Optimization Approach ◽  
Robotic Hand ◽  
Kinematic Structure ◽  
Robotic Hands ◽  
Data Glove ◽  
Minimax Algorithms ◽  
Kinematic Mapping ◽  
And Control

The complex kinematic structure of a human thumb makes it difficult to capture and control the thumb motions. A further complication is that mapping the fingertip position alone leads to inadequate grasping postures for current robotic hands, many of which are equipped with tactile sensors on the volar side of the fingers. This paper aimed to use a data glove as the input device to teleoperate the thumb of a humanoid robotic hand. An experiment protocol was developed with only minimum hardware involved to compensate for the differences in kinematic structures between a robotic hand and a human hand. A nonlinear constrained-optimization formulation was proposed to map and calibrate the motion of a human thumb to that of a robotic thumb by minimizing the maximum errors (minimax algorithms) of fingertip position while subject to the constraint of the normals of the surfaces of the thumb and the index fingertips within a friction cone. The proposed approach could be extended to other teleoperation applications, where the master and slave devices differ in kinematic structure.

On the design of robotic hands for brain–machine interface

2006 ◽  
Vol 20 (5) ◽  
pp. 1-9 ◽  
Author(s):  
Yoky Matsuoka ◽  
Pedram Afshar ◽  
Michael Oh
Keyword(s):  
Brain Machine Interface ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Robotic Hand ◽  
Neural Signals ◽  
Robotic Hands ◽  
Intimate Contact ◽  
Machine Interface ◽  
Optimal Approach ◽  
And Control

✓ Brain–machine interface (BMI) is the latest solution to a lack of control for paralyzed or prosthetic limbs. In this paper the authors focus on the design of anatomical robotic hands that use BMI as a critical intervention in restorative neurosurgery and they justify the requirement for lower-level neuromusculoskeletal details (relating to biomechanics, muscles, peripheral nerves, and some aspects of the spinal cord) in both mechanical and control systems. A person uses his or her hands for intimate contact and dexterous interactions with objects that require the user to control not only the finger endpoint locations but also the forces and the stiffness of the fingers. To recreate all of these human properties in a robotic hand, the most direct and perhaps the optimal approach is to duplicate the anatomical musculoskeletal structure. When a prosthetic hand is anatomically correct, the input to the device can come from the same neural signals that used to arrive at the muscles in the original hand. The more similar the mechanical structure of a prosthetic hand is to a human hand, the less learning time is required for the user to recreate dexterous behavior. In addition, removing some of the nonlinearity from the relationship between the cortical signals and the finger movements into the peripheral controls and hardware vastly simplifies the needed BMI algorithms. (Nonlinearity refers to a system of equations in which effects are not proportional to their causes. Such a system could be difficult or impossible to model.) Finally, if a prosthetic hand can be built so that it is anatomically correct, subcomponents could be integrated back into remaining portions of the user's hand at any transitional locations. In the near future, anatomically correct prosthetic hands could be used in restorative neurosurgery to satisfy the user's needs for both aesthetics and ease of control while also providing the highest possible degree of dexterity.

Anthropometric Robotic Hand for Pressurized Glove Torque Measurement

2014 ◽  
Vol 11 (02) ◽  
pp. 1450018 ◽  
Author(s):  
Dustyn P. Roberts ◽  
Jack Poon ◽  
Daniella Patrick ◽  
Joo H. Kim
Keyword(s):  
Low Cost ◽  
Human Hand ◽  
Neutral Position ◽  
Robotic Hand ◽  
Robotic Hands ◽  
Performance Requirements ◽  
Transverse Arch ◽  
Data Processing Method ◽  
Design And Testing ◽  
Different Levels

While robotic hands have been developed for tasks such as manipulation and grasping, their potential as tools for evaluation of engineered products — particularly compliant structures that are not easily modeled — has not been broadly studied. In this research, a low-cost anthropometric robotic hand is introduced that is designed to characterize glove stiffness in a pressurized environment. The interaction with the compliant pressurized glove provides unique performance requirements and design constraints. The anthropometric robotic hand was designed to mimic the human hand in a configuration corresponding to the neutral position in zero gravity, including the transverse arch, longitudinal arch, and oblique flexion of the rays. The resulting robotic hand also allows for realistic donning and doffing of the prototype glove, its pressurization, and torque testing of individual joints. Solid modeling and 3D printing enabled the rapid design iterations necessary to work successfully with the compliant pressure garment. An instrumentation and data processing method was used to calculate the required actuator torque at each finger's knuckle joint. The performance of the robotic hand was experimentally demonstrated with a prototype spacesuit glove at different levels of pressure, followed by a statistical repeatability analysis. The reliable measurement method validated the pressure-induced stiffening. The resulting robotic design and testing method provide an objective and systematic way of evaluating the performance of compliant gloves.

scholarly journals Preliminary Results in Testing of a Novel Asymmetric Underactuated Robotic Hand Exoskeleton for Motor Impairment Rehabilitation

Symmetry ◽  
2020 ◽  
Vol 12 (9) ◽  
pp. 1470 ◽  
Author(s):  
Flaviu Ionuț Birouaș ◽  
Radu Cătălin Țarcă ◽  
Simona Dzitac ◽  
Ioan Dzitac
Keyword(s):  
Mechanical Design ◽  
Experimental Testing ◽  
Motor Impairment ◽  
Human Hand ◽  
Underactuated System ◽  
Robotic Hand ◽  
Advantages And Disadvantages ◽  
Hand Exoskeleton ◽  
Robotic Devices ◽  
And Behavior

Robotic exoskeletons are a trending topic in both robotics and rehabilitation therapy. The research presented in this paper is a summary of robotic exoskeleton development and testing for a human hand, having application in motor rehabilitation treatment. The mechanical design of the robotic hand exoskeleton implements a novel asymmetric underactuated system and takes into consideration a number of advantages and disadvantages that arose in the literature in previous mechanical design, regarding hand exoskeleton design and also aspects related to the symmetric and asymmetric geometry and behavior of the biological hand. The technology used for the manufacturing and prototyping of the mechanical design is 3D printing. A comprehensive study of the exoskeleton has been done with and without the wearer’s hand in the exoskeleton, where multiple feedback sources are used to determine symmetric and asymmetric behaviors related to torque, position, trajectory, and laws of motion. Observations collected during the experimental testing proved to be valuable information in the field of augmenting the human body with robotic devices.

scholarly journals Robust Feedback Control Design of Underactuated Robotic Hands with Selectively Lockable Switches for Amputees

2018 ◽  
Vol 2018 ◽  
pp. 1-9
Author(s):  
Bilal M. Yousuf ◽  
Asim Mehdi ◽  
Abdul Saboor Khan ◽  
Aqib Noor ◽  
Arslan Ali
Keyword(s):  
Low Cost ◽  
Cost Effective ◽  
Second Step ◽  
Robotic Hand ◽  
Effective Solution ◽  
Robotic Hands ◽  
Daily Lives ◽  
Mechanical Hand ◽  
Controlling System ◽  
The Coefficient Of Friction

In recent years, reproduction of human mechanical hand with upgraded abilities is one of the major concerns. This paper addresses the problems of underactuated robotic hand with low cost design as it avoids electromyogram (EMG) sensors. The main goal is to balance the hand in the way, like grabbing, speed, and power, and provide a more robust and cost effective solution. All fingers have some mechanical consistency for picking up objects in a better way. A Flex sensor is attached to all fingers and it is interfaced with a computer using Arduino UNO microcontroller. The sensor aids the arm in three different directions: at first it senses whether an object is grasped or not. In the second step, it determines the coefficient of friction between the objects. Finally it grasps the object and stops. One of the primary issues of prosthetic hand is to have the capacity to satisfy every detail of torque, speed, and latency. In this research, we have developed a model of robotic hand with some modifications. The adaptability of grasping is compared with the degree of freedom (DOF) along with the quantity of fingers. We are controlling our hands via sensors based signal controlling system. The idea is to design a robotic hand, which has low cost, is easy to use, and is light in weight, which helps the amputees to use it with ease in their daily lives. The efficacy of the proposed control is verified and validated using simulations.

Mechanical Design and Control Issues of a Dexterous Robotic Hand

2012 ◽  
Vol 463-464 ◽  
pp. 1268-1271 ◽  
Author(s):  
Cosmin Berceanu ◽  
Daniela Tarniţă
Keyword(s):  
Development Process ◽  
Mechanical Design ◽  
Control Problems ◽  
Robotic Hand ◽  
Research Topics ◽  
Precise Positioning ◽  
Software And Hardware ◽  
Active Research ◽  
Artificial Hand ◽  
And Control

The design and control problems involved in the development process of robotic grippers have been active research topics in the last three decades. In this paper it is presented a new developed dexterous robotic hand whose mechanical structure is based on a biomechatronic approach. The control system for this artificial hand relies on modern software and hardware components which allow precise positioning of the fingers.

Transforming Human Hand Motion for Telemanipulation

1992 ◽  
Vol 1 (1) ◽  
pp. 63-79 ◽  
Author(s):  
Thomas H. Speeter
Keyword(s):  
Force Feedback ◽  
Robotic Manipulation ◽  
Human Hand ◽  
Robotic Hand ◽  
Robotic Hands ◽  
Automated Control ◽  
Functional Transformation ◽  
Hand Motion ◽  
Computationally Expensive ◽  
Human Hands

Manipulation by teleoperation (telemanipulation) offers an apparently straightforward and less computationally expensive route toward dextrous robotic manipulation than automated control of multifingered robotic hands. The functional transformation of human hand motions into equivalent robotic hand motions, however, presents both conceptual and analytical problems. This paper reviews and proposes algorithmic methods for transforming the actions of human hands into equivalent actions of slave multifingered robotic hands. Forward positional transformation is considered only, the design of master devices, feedforward dynamics, and force feedback are not considered although their importance for successful telemanipulation is understood. Linear, nonlinear, and functional mappings are discussed along with performance and computational considerations.

scholarly journals Magnetic Array Assisted Triboelectric Nanogenerator Sensor for Real-Time Gesture Interaction

2021 ◽  
Vol 13 (1) ◽  
Author(s):  
Ken Qin ◽  
Chen Chen ◽  
Xianjie Pu ◽  
Qian Tang ◽  
Wencong He ◽  
...  
Keyword(s):  
Real Time ◽  
Signal Amplitude ◽  
Human Hand ◽  
Triboelectric Nanogenerator ◽  
Robotic Hand ◽  
Robotic Hands ◽  
Human Machine Interaction ◽  
Gesture Interaction ◽  
New Strategy ◽  
Machine Interaction

AbstractIn human-machine interaction, robotic hands are useful in many scenarios. To operate robotic hands via gestures instead of handles will greatly improve the convenience and intuition of human-machine interaction. Here, we present a magnetic array assisted sliding triboelectric sensor for achieving a real-time gesture interaction between a human hand and robotic hand. With a finger’s traction movement of flexion or extension, the sensor can induce positive/negative pulse signals. Through counting the pulses in unit time, the degree, speed, and direction of finger motion can be judged in real-time. The magnetic array plays an important role in generating the quantifiable pulses. The designed two parts of magnetic array can transform sliding motion into contact-separation and constrain the sliding pathway, respectively, thus improve the durability, low speed signal amplitude, and stability of the system. This direct quantization approach and optimization of wearable gesture sensor provide a new strategy for achieving a natural, intuitive, and real-time human-robotic interaction.

scholarly journals Design and Control of a Low-Cost Robotic Hand Using the Robot Operating System

2019 ◽  
Author(s):  
Walter Fetter Lages ◽  
Gabriel Figueiredo Schmitz ◽  
Renato Henriques
Keyword(s):  
Operating System ◽  
Low Cost ◽  
Robotic Hand ◽  
Robot Operating System ◽  
And Control

scholarly journals Development and Characterization of a Low-Cost Sensors System for an Acoustic Test Bench

Sensors ◽  
2020 ◽  
Vol 20 (22) ◽  
pp. 6663
Author(s):  
Ciro Moreno-Ramírez ◽  
Carmen Iniesta ◽  
Alejandro González ◽  
José Luis Olazagoitia
Keyword(s):  
Test Bench ◽  
Mechanical Design ◽  
Dynamic Pressure ◽  
Low Cost ◽  
Pressure Sensors ◽  
Acquisition System ◽  
Sampling System ◽  
Thermoacoustic Engines ◽  
And Control

Existing acoustic test benches are usually costly devices based on proprietary designs, sensors, and acquisition devices. In this paper, a low-cost test bench for acoustic purposes is introduced. The design of the test bench takes into account not only the low-cost mechanical design, but also uses low-cost sensors and control boards. This test bench has been designed for a range of signals compatible with those used by thermoacoustic engines, but it can be useful for applications with similar requirements. Taking advantage of an auxiliary pressure reference, low-cost unidirectional differential pressure sensors can be used to significantly increase the accuracy of the sampling system. The acoustic and mechanical design and development are presented along with the sampling system and the sensors arrangement implemented. Both the sensor and sampling system are evaluated by comparison with a high-fidelity sound acquisition system. An unexpected effect on the time error values distribution of the low-cost acquisition system is found and described. Finally, the errors introduced by the system and the sensors in terms of time and pressure sampling are characterized. As a result, the low-cost system’s accuracy has been satisfactory assessed and validated for the conditions expected in thermoacoustic experiments in terms of frequency and dynamic pressure.

Sign in / Sign up

Export Citation Format

Share Document