Kinematic Mapping and Calibration of the Thumb Motions for Teleoperating a Humanoid Robot Hand

2011 ◽  
Author(s):  
Lei Cui ◽  
Ugo Cupcic ◽  
Jian S. Dai
Keyword(s):  
Humanoid Robot ◽  
Index Finger ◽  
Input Device ◽  
Human Hand ◽  
Robot Hand ◽  
Optimization Formulation ◽  
Kinematic Mapping ◽  
Dexterous Hand ◽  
Tip Position ◽  
Hand Pose

Mapping and calibration from a human hand to a robot hand pose a challenge due to their differences in kinematic structures. This paper uses the CyberGlove® as the input device for telemanipulating an object with the thumb and the index finger of the Shadow® Dexterous Hand™, with the focus not only on the position but also on the orientation of the thumb fingertip because it is found through experiments conducted on the Shadow Hand that the calibration of tip position alone can lead to unacceptable grasping postures. This paper develops an experiment protocol and proposes a nonlinear optimization formulation that makes the normals of the surfaces of the thumb and index fingertips within the friction cone while subject to fingertip position constraint. The results are verified to be accurate enough to conduct the telemanipulation.

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.

The Control Method for the Robot Hand Based on the Fuzzy Theory

1992 ◽  
Vol 4 (4) ◽  
pp. 262-267 ◽  
Author(s):  
Masafumi Uchida ◽  
◽  
Hideto Ide
Keyword(s):  
Control Method ◽  
Index Finger ◽  
Fuzzy Theory ◽  
Middle Finger ◽  
Human Hand ◽  
Robot Hand ◽  
Production Rules ◽  
Living Body ◽  
Physical Conditions ◽  
State Of Mind

By moving muscles, the myogenic potential (Electromyogram: EMG) is observed on the surface of the living body. It is considered that the EMG is useful for controlling a robot hand. However, the EMG depends on physical conditions, the state of mind and so on. So, the original EMG will be not used for controlling the robot hand directly. In this study, it is considered that the EMG relating the motion of the human hand is analyzed by the fuzzy theory for making the robot hand performs the same motion as the human hand. EMG were measured under the following conditions. (1) opening the hand, (2) bending the thumb, (3) bending the middle finger, (4) bending the index finger, (5) closing the hand, (6) not move. Six production rules were made with fuzzificate data resulted from fourier transforming the EMG (30-band 1/3 octave analysis). Also the EMG measured by experimental motion of the human hand was transformed into the fuzzificate date. Rates of recognitions were calculated in comparison with the six production rules and the experimental data. And one production rule with highest rate of recognition was used for recognition of movement of the human hand in the computer. From the experimental results, about 90% of movement were recognized by the computer. The results were applied to control the robot hand.

A Modular Approach for Lightweight Humanoid Hand Design Using High Torque Density Electric Actuators

2018 ◽  
Author(s):  
Haotian Cui ◽  
Shuangyue Yu ◽  
Xunge Yan ◽  
Shuo-Hsiu Chang ◽  
Gerard Francisco ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Human Hand ◽  
Average Weight ◽  
Robot Hand ◽  
Electric Motors ◽  
Robotic Hands ◽  
Torque Density ◽  
High Torque ◽  
Humanoid Hand

The human hand has extraordinary dexterity with more than 20 degrees of freedom (DOF) actuated by lightweight and efficient biological actuators (i.e., muscles). The average weight of human hand is only 400g [1]. Over the last few decades, research and commercialization effort has been dedicated to the development of novel robotic hands for humanoid or prosthetic application towards dexterous and biomimetic design [2]. However, due to the limitations of existing electric motors in terms of torque density and energy efficiency, the design of humanoid hands has to compromise between dexterity and weight. For example, commercial prosthetic terminal devices i-Limb [3] and Bebionic [4] prioritize the lightweight need (450g) and use 5-DOF motors to under-actuated 11 joints, which is only able to realize a few basic grasp postures. On the other hand, some humanoid robot hand devices like DLR-HIT I & II hands [5] prioritize the dexterity need (15 DOF), but weigh more than four times than their biological counterpart (2200g and 1500g, respectively).

Workspace Analysis and Mechanical Innovation of YWZ Dexterous Hand

2011 ◽  
Vol 338 ◽  
pp. 557-565 ◽  
Author(s):  
Wen Zhen Yang ◽  
Hua Zhang ◽  
Shi Guang Yu ◽  
Wen Hua Chen
Keyword(s):  
Degrees Of Freedom ◽  
Bone Structure ◽  
Experimental Results ◽  
Human Hand ◽  
Robot Hand ◽  
Coordinate Systems ◽  
Mechanical Structure ◽  
Workspace Analysis ◽  
Physical Prototype ◽  
Dexterous Hand

Degrees of freedom (DOFs) and workspace are important factors to evaluate the flexibility of the dexterous hand. This paper develops an original dexterous hand, which has 20 active DOFs and adjustable thumb. Imitating the human hand bone structure, we design a full driven multi-fingered anthropomorphic robot hand (YWZ dexterous hand). For the thumb of YWZ dexterous hand, we innovatively design a metacarpal phalange mechanical structure to adjust thumb’s assembly position and radial orientation relative the palm. We construct coordinate systems to deduce the finger kinematic equations and analyze the finger workspace. A physical prototype of YWZ dexterous hand was manufactured to test its kinematic characteristics and workspace. Experimental results validate the YWZ dexterous hand has large workspace, excellent operating flexibility.

scholarly journals Development of a humanoid robot hand with coupling four-bar linkage

2017 ◽  
Vol 9 (1) ◽  
pp. 168781401668631 ◽  
Author(s):  
Xinhua Liu ◽  
Xianhua Zheng ◽  
Shengpeng Li
Keyword(s):  
Humanoid Robot ◽  
Three Dimensional ◽  
Human Hand ◽  
Robot Hand ◽  
End Effector ◽  
Kinematics Simulation ◽  
Contact Kinematics ◽  
Motion Range ◽  
Four Bar Linkage ◽  
The Mathematical Model

To improve the operating performance of robots’ end-effector, a humanoid robot hand based on coupling four-bar linkage was designed. An improved transmission system was proposed for the base joint of the thumb. Thus, a far greater motion range and more reasonable layout of the palm were obtained. Moreover, the mathematical model for kinematics simulation was presented based on the Assur linkage group theory to verify and optimize the proposed structure. To research the motion relationships between the fingers and the object in the process of grasping object, the grasping analysis of multi-finger manipulation was presented based on contact kinematics. Finally, a prototype of the humanoid robot hand was produced by a three-dimensional printer, and a kinematics simulation example and the workspace solving of the humanoid robot hand were carried out. The results showed that the velocities of finger joints approximately met the proportion relationship 1:1:1, which accorded with the grasping law of the human hand. In addition, the large workspace, reasonable layout, and good manipulability of the humanoid robot hand were verified.

Humanoid Robot Hand With SMA Actuators and Servo Motors

2014 ◽  
Author(s):  
Lianjun Wu ◽  
Yonas Tadesse
Keyword(s):  
Mathematical Model ◽  
Humanoid Robot ◽  
Flexible Structure ◽  
Human Hand ◽  
Robot Hand ◽  
Real Time Control ◽  
Sma Actuators ◽  
Time Control ◽  
Distal Interphalangeal ◽  
Printing Techniques

This paper describes the design of a child humanoid robot hand with SMA actuators and servo motors. Human hands can grasp and manipulate complicated objects relying on its flexible structure and real-time control. However, it is difficult to replicate an exact human hand using rigid structures because of intricate biomechanical structure. In human hand, one metacarpal and three phalanges make up each finger, except for the thumb which only has two phalanges. Each finger except the thumb is composed of 3 joints: the metacarpophalangeal (MCP), the proximal interphalangeal (PIP) and distal interphalangeal joints (DIP). The DIP and PIP joints are always moving simultaneously, while the MCP joint can move independently. The child-sized robot hand is developed which replicates a seven year-old child’s hand in its fundamental structure. The robot hand has five fingers and all the fingers consist of 3 links. Servo motors and shape memory alloy actuators were used as a drive mechanism for the fingers and mathematical model of the SMA actuators are described to study the finger dynamics. A prototype humanoid robot hand was fabricated using 3D printing techniques and experimental results are presented.

Calibration and Mapping of a Human Hand for Dexterous Telemanipulation

2000 ◽  
Author(s):  
Weston B. Griffin ◽  
Ryan P. Findley ◽  
Michael L. Turner ◽  
Mark R. Cutkosky
Keyword(s):  
Accurate Determination ◽  
Linear Mapping ◽  
Virtual Object ◽  
Human Hand ◽  
Robot Hand ◽  
Calibration Scheme ◽  
Instrumented Glove ◽  
Kinematic Mapping ◽  
Mapping Scheme

Abstract This paper presents a calibration scheme and kinematic mapping to support dexterous telemanipulation. The calibration scheme is intended for use with an instrumented glove and permits an accurate determination of the intended motions of a virtual object grasped between a human operator’s thumb and index finger. The motions of the virtual object are then mapped to analogous motions of a scaled virtual object held in a two-fingered robot hand. A non-linear mapping scheme allows better utilization of the human and robot hand workspaces.

Inverse Kinematic Model of Humanoid Robot Hand

2014 ◽  
Vol 611 ◽  
pp. 75-82 ◽  
Author(s):  
Ivan Virgala ◽  
Alexander Gmiterko ◽  
Michal Kelemen ◽  
Ľubica Miková ◽  
Martin Varga
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Humanoid Robot ◽  
Kinematic Model ◽  
Theoretical Aspect ◽  
Optimization Method ◽  
Inverse Kinematic ◽  
Human Hand ◽  
Robot Hand ◽  
Damped Least Squares

Our study deals with inverse kinematic model of humanoid robot hand. It is important for modeling to know biomechanics of biological human hand, what is discussed in the second section. Based on theoretical aspect of kinematic configuration of the hand, the hand consisting of 24 degrees of freedom is assumed. Subsequently, there are four numerical methods of inverse kinematics used, namely pseudoinverse method, Jacobian transpose method, damped least squares and optimization method. Each of them is simulated in software Matlab and the results are compared and discussed. In the conclusion the best method from the view of solution time and number of iteration cycles is evaluated.

Development of Teleoperation Humanoid Robot Hand Mimicking Through Human Hand Movement

2020 ◽  
Author(s):  
Satrya Tangguh Puruhita ◽  
Novian Fajar Satria ◽  
Nofria Hanafi ◽  
Eny Kusumawati
Keyword(s):  
Humanoid Robot ◽  
Hand Movement ◽  
Human Hand ◽  
Robot Hand

scholarly journals Active gesture-changeable underactuated finger for humanoid robot hand based on multiple tendons

2010 ◽  
Vol 1 (1) ◽  
pp. 27-32 ◽  
Author(s):  
D. Che ◽  
W. Zhang
Keyword(s):  
Control System ◽  
Humanoid Robot ◽  
Low Cost ◽  
International Workshop ◽  
Robot Hand ◽  
Dexterous Hand ◽  
Underactuated Finger ◽  
Mechanical Finger

Abstract. The concept called gesture-changeable under-actuated (GCUA) function is utilized to improve the dexterities of traditional under-actuated hands and reduce the control difficulties of dexterous hands. Based on GCUA function, a novel mechanical finger by multiple tendons: GCUA-T finger, is designed. The finger uses tendon mechanisms to achieve GCUA function which includes traditional underactuated (UA) grasping motion and special pre-bending (PB, or pre-shaping) motion before UA grasping. Operation principles and force analyses of the fingers are given, and the effect of GCUA function on the movements of a hand is discussed. The finger can satisfy the requirements of grasping and operating with low dependence on control system and low cost on manufacturing expenses, which develops a new way between dexterous hand and traditional under-actuated hand. This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.

Sign in / Sign up

Export Citation Format

Share Document