scholarly journals Pinch Grasp and Suction for Delicate Object Manipulations Using Modular Anthropomorphic Robotic Gripper with Soft Layer Enhancements

Robotics ◽  
2019 ◽  
Vol 8 (3) ◽  
pp. 67 ◽  
Author(s):  
Godwin Ponraj Joseph Vedhagiri ◽  
Avataram Venkatavaradan Prituja ◽  
Changsheng Li ◽  
Guoniu Zhu ◽  
Nitish V. Thakor ◽  
...  
Keyword(s):  
Negative Pressure ◽  
Kinematic Analysis ◽  
Modular Design ◽  
Robotic Hand ◽  
Soft Layer ◽  
Single Finger ◽  
Base Structure

This paper is an extension of our previous work about a modular anthropomorphic robotic hand with soft enhancements focusing on simultaneous pinch grasp and suction-based object manipulations. The base structure is a tendon-driven robotic hand comprising five fingers and a palm. Each finger consists of two rigid links covered with soft enhancements. The soft enhancements are like the skin and tissues of the robotic hand. The tip of the finger is equipped with a suction module which can be actuated by regulating negative pressure to the soft layers. While our previous work dealt with the rationale behind and the structure of the modular design with kinematic analysis, this paper focuses on analyzing two specific capabilities of the gripper—pinch grasp and suction modality. Experiments validate that the proposed gripper together with the soft enhancement layers is capable of performing delicate single finger suction-based manipulation tasks and two-finger pinch grasp tasks.

Kinematic analysis of four-fingered tendon actuated robotic hand

2021 ◽  
pp. 1-11
Author(s):  
E. Neha ◽  
M. Suhaib ◽  
S. Mukherjee ◽  
Yogesh Shrivastava
Keyword(s):  
Kinematic Analysis ◽  
Robotic Hand

Comprehensive Treatment of Single Finger Frostbite: A Case Study

2020 ◽  
Author(s):  
Yonghu Zhang ◽  
Jintong Song ◽  
Guobao Huang
Keyword(s):  
Negative Pressure ◽  
Index Finger ◽  
Critical Time ◽  
Comprehensive Treatment ◽  
Wound Treatment ◽  
Fourth Degree ◽  
Single Finger ◽  
Comprehensive Treatments ◽  
Papaverine Hydrochloride

Abstract Third- and fourth-degree frostbites usually result in loss of skin and tissue requiring amputation, and scarring. The 3- to 6-week waiting period is often necessary to determine the severity of the lesion. This period is also a critical time for the rescue of frostbitten tissue. This patient was a 30-year-old man who developed frostbite of his right index finger. He presented to our hospital 4 hours after injury with loss of sensation on the whole index finger and early signs of necrosis. The patient received a series of comprehensive treatments, including fasciotomy, injection of papaverine hydrochloride, baking lamp irradiation, and negative pressure treatment. At the time of discharge, he had re-epithelialization of the index finger by 21 days after injury. The conclusion of this paper is that the comprehensive treatments combined with negative pressure wound treatment has certain clinical application value for the rescue of deep frostbite tissues.

KINEMATIC ANALYSIS AND PROTOTYPE OF A METAMORPHIC ANTHROPOMORPHIC HAND WITH A RECONFIGURABLE PALM

2011 ◽  
Vol 08 (03) ◽  
pp. 459-479 ◽  
Author(s):  
GUOWU WEI ◽  
JIAN S. DAI ◽  
SHUXIN WANG ◽  
HAIFENG LUO
Keyword(s):  
Closed Form ◽  
Matrix Equation ◽  
Kinematic Analysis ◽  
Structure Design ◽  
Characteristic Matrix ◽  
Robotic Hand ◽  
Closed Form Solutions ◽  
First Time

A novel metamorphic anthropomorphic hand is for the first time introduced in this paper. This robotic hand has a reconfigurable palm that generates changeable topology and augments dexterity and versatility of the hand. Structure design of the robotic hand is presented and based on mechanism decomposition kinematics of the metamorphic anthropomorphic hand is characterized with closed-form solutions leading to the workspace investigation of the robotic hand. With characteristic matrix equation, twisting motion of the metamorphic robotic hand is investigated to reveal both dexterity and manipulability of the metamorphic hand. Through a prototype, grasping and prehension of the robotic hand are tested to illustrate characteristics of the new metamorphic anthropomorphic hand.

Robotic hand-arm system for on-orbit servicing missions in Tiangong-2 Space Laboratory

2019 ◽  
Vol 39 (5) ◽  
pp. 999-1012 ◽  
Author(s):  
Yiwei Liu ◽  
Shipeng Cui ◽  
Hong Liu ◽  
Minghe Jin ◽  
Fenglei Ni ◽  
...  
Keyword(s):  
Modular Design ◽  
Robotic Hand ◽  
Time Step ◽  
Content Type ◽  
Step Motion ◽  
Electrical Connector ◽  
Central Controller ◽  
Space Manipulators ◽  
Dexterous Hand ◽  
Collision Force

Purpose The purpose of this study is to develop a robotic hand–arm system for on-orbit servicing missions at the Tiangong-2 (TG-2) Space Laboratory. Design/methodology/approach The hand–arm system is mainly composed of a lightweight arm, a dexterous hand, an electrical cabinet, a global camera, a hand–eye camera and some human–machine interfaces. The 6-DOF lightweight arm and the 15-DOF dexterous hand adopt the modular design philosophy that greatly reduces the design cycle and cost. To reduce the computational burden on the central controller and simplify system maintenance, an electrical system which has a hierarchical structure is introduced. Findings The prototypical operating experiments completed in TG-2 space laboratory demonstrate the performance of the hand–arm system and lay foundations for the future applications of space manipulators. Originality/value The main contributions of this paper are as follows a robotic hand–arm system which can perform on-orbit servicing missions such as grasping the electric drill, screwing the bolt, unscrewing J599 electrical connector has been developed; a variable time step motion plan method is proposed to adjust the trajectories of the lightweight arm to reduce or eliminate the collision force; and a dexterous hand uses the coordinated grasp control based on the object Cartesian stiffness to realize stable grasp. To solve the kinematic mapping from the cyber glove commands to the dexterous hand, a fingertip-position-based method is proposed to acquire precise solutions.

A study of a robotic hand with tendon driven fingers

Robotica ◽  
2014 ◽  
Vol 33 (5) ◽  
pp. 1034-1048 ◽  
Author(s):  
Cesare Rossi ◽  
Sergio Savino ◽  
Vincenzo Niola ◽  
Stefano Troncone
Keyword(s):  
Potential Application ◽  
Human Hand ◽  
Linear Actuator ◽  
Robotic Hand ◽  
Hand Prosthesis ◽  
Mechanical Hand ◽  
Single Finger ◽  
Complex Shapes ◽  
Kinematic Behaviour ◽  
Modelling Studies

SUMMARYIn the present paper, a model of an underactuated robotic hand with tendon driven fingers is proposed. The aim of the project was to study the feasibility of building a mechanical hand with four or five fingers, the movement of which is achieved using a single linear actuator. The mechanism was first modelled in order to study the possible improvement in the ability of a “robotic hand” powered with a single actuator in regard to grasping objects with complex shapes and also in achieving a strong grip on objects. Next, a model of the finger was studied in order to optimize of its parameters. Finally, a five-fingered robotic hand was modelled for potential application as a human hand prosthesis. Our studies on the dynamic and kinematic behaviour of a single finger mechanism permitted us to make the first prototypes of the mechanism. In addition to modelling studies, we also present a prototype of the modelled robotic hand that was developed in order to optimize functionality and simplicity of construction.

Kinematic Analysis of a Dexterous Hand

2012 ◽  
Vol 433-440 ◽  
pp. 754-762
Author(s):  
Bibhuti Bhusan Biswal ◽  
P.K. Parida ◽  
K.C. Pati
Keyword(s):  
Kinematic Analysis ◽  
Robotic Hand ◽  
Robotic Hands ◽  
Irregular Shapes ◽  
Soft Objects ◽  
Dexterous Hand ◽  
Human Hands

Handling of objects with irregular shapes and that of flexible/soft objects by ordinary robot grippers is difficult. Multi fingered gripper may be a solution to such handling tasks. However, dexterous grippers will be the appropriate solution to such problems. Although it is possible to develop robotic hands which can be very closely mapped to human hands, it is sometimes not to be done due to control, manufacturing and economic reasons. The present work aims at designing and developing a dexterous robotic hand for manipulation of objects.

A coupled and indirectly self-adaptive under-actuated hand with double-linkage-slider mechanism

2019 ◽  
Vol 46 (5) ◽  
pp. 660-671 ◽  
Author(s):  
Siyun Liu ◽  
Wenzeng Zhang ◽  
Jie Sun
Keyword(s):  
Kinematic Analysis ◽  
Design Methodology ◽  
Degrees Of Freedom ◽  
High Reliability ◽  
Robotic Hand ◽  
Force Analysis ◽  
Content Type ◽  
High Flexibility ◽  
Two Stages ◽  
Self Adaptive

Purpose Underactuated fingers are adapted to generate several grasping modes for different tasks, and coupled fingers and self-adaptive fingers are two important types of them. Aiming to expand the application and increase adaptability of robotic hand, this paper aims to propose a novel grasping model, called coupled and indirectly self-adaptive (CISA) grasping model, which is the combination of coupled finger and indirectly self-adaptive finger. Design/methodology/approach CISA grasping process includes two stages: first, coupled and then indirectly self-adaptive grasping; thus, it is not only integrated with the good pinching ability of coupled finger but also characterized with the high flexibility of indirectly self-adaptive finger. Furthermore, a CISA hand with linkage-slider, called CISA-LS hand, is designed based on the CISA grasping model, consisting of 1 palm, 5 CISA-LS fingers and 14 degrees of freedom. Findings To research the grasping behavior of CISA-LS hand, kinematic analysis, dynamic analysis and force analysis of 2-joint CISA-LS finger are performed. Results of grasping experiments for different objects demonstrate the high reliability and stability of CISA-LS hand. Originality/value CISA fingers integrate two grasping modes, coupled grasping and indirectly self-adaptive grasping, into one finger. And a double-linkage-slider mechanism is designed as the switch device.

Kinematic Approximations in TED and RHEED Analysis of Reconstructed Surfaces

1990 ◽  
Vol 48 (2) ◽  
pp. 396-397
Author(s):  
L. -M. Peng ◽  
M. J. Whelan
Keyword(s):  
Electron Diffraction ◽  
Kinematic Analysis ◽  
Incident Beam ◽  
High Energy ◽  
Energy Electron ◽  
Great Success ◽  
High Energy Electron ◽  
Kinematic Approximation ◽  
Reconstructed Surfaces

In recent years there has been a trend in the structure determination of reconstructed surfaces to use high energy electron diffraction techniques, and to employ a kinematic approximation in analyzing the intensities of surface superlattice reflections. Experimentally this is motivated by the great success of the determination of the dimer adatom stacking fault (DAS) structure of the Si(111) 7 × 7 reconstructed surface.While in the case of transmission electron diffraction (TED) the validity of the kinematic approximation has been examined by using multislice calculations for Si and certain incident beam directions, far less has been done in the reflection high energy electron diffraction (RHEED) case. In this paper we aim to provide a thorough Bloch wave analysis of the various diffraction processes involved, and to set criteria on the validity for the kinematic analysis of the intensities of the surface superlattice reflections.The validity of the kinematic analysis, being common to both the TED and RHEED case, relies primarily on two underlying observations, namely (l)the surface superlattice scattering in the selvedge is kinematically dominating, and (2)the superlattice diffracted beams are uncoupled from the fundamental diffracted beams within the bulk.

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