dexterous robot hand
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2019 ◽  
Vol 16 (5) ◽  
pp. 172988141987985 ◽  
Author(s):  
Zhijie Tang ◽  
Zhen Wang ◽  
Jiaqi Lu ◽  
Gaoqian Ma

In this article, a flexible tactile sensor that made of conductive silicone rubber for dexterous robot hand is designed. The tactile sensor is made up of four microsensors. The maximum gripping force is simulated when the degree of a robot finger joint is 138. Meanwhile, a control system to analyze the creep and hysteresis characteristics and a processing system of the tactile sensor is designed. We also demonstrated an experiment for the application of robot grasp object, showing the finger’s flexibility and sensitivity. Then the feedback data is sent to control system to provide precise grasp action changes for the robot hand.


Robotica ◽  
2018 ◽  
Vol 36 (8) ◽  
pp. 1206-1224 ◽  
Author(s):  
P. Vulliez ◽  
J. P. Gazeau ◽  
P. Laguillaumie ◽  
H. Mnyusiwalla ◽  
P. Seguin

SUMMARYThis paper presents a novel tendon-driven bio-inspired robotic hand design for in-hand manipulation. Many dexterous robot hands are able to produce adaptive grasping, but only a few human-sized hands worldwide are able to produce fine motions of the object in the hand. One of the challenges for the near future is to develop human-sized robot hands with human dexterity. Most of the existing hands considered in the literature suffer from dry friction which creates unwanted backlash and non-linearities. These problems limit the accurate control of the fingers and the capabilities of the hand. Such was the case with our first fully actuated dexterous robot hand: the Laboratoire de Mécanique des Solides (LMS) hand.The mechanical design of the hand relies on a tendon-based transmission system. Developing a fully actuated dexterous robot hand requires the routing of the tendons through the finger for the actuation of each joint. This paper focuses on the evolution of the tendon routing; from the LMS hand to the new RoBioSS dexterous hand. The motion transmission in the new design creates purely linear coupling relations between joints and actuators. Experimental results using the same protocol for the previous hand and the new hand illustrate the evolution in the quality of the mechanical design. With the improvements of the mechanical behavior of the robotic fingers, the hand control software could be extensively simplified. The choice of a common architecture for all fingers makes it possible to consider the hand as a collaboration of four serial robots. Moreover, with the transparency of the motor-joint transmissions, we could use robust, industrial-grade cascaded feedback loops for the axis controls.An inside-hand manipulation task concerning the manipulation of a bottle cap is presented at the end of the paper. As proof of the robustness of the hand, demonstrations of the hand's capabilities were carried out continuously over three days at SPS IPC Drives international exhibition in Nuremberg, in November 2016.


2015 ◽  
Vol 12 (12) ◽  
pp. 6096-6099 ◽  
Author(s):  
Weiliang Ding ◽  
Gongfa Li ◽  
Guozhang Jiang ◽  
Yinfeng Fang ◽  
Zhaojie Ju ◽  
...  

2015 ◽  
Vol 20 (4) ◽  
pp. 1809-1821 ◽  
Author(s):  
Mathieu Grossard ◽  
Javier Martin ◽  
Gabriel Felippe da Cruz Pacheco

2012 ◽  
Vol 271-272 ◽  
pp. 1736-1741
Author(s):  
Duan Zheng ◽  
Xiao Ping Liao ◽  
Yuan Yuan Liu ◽  
Juan Quan Sun ◽  
Rui Qing Fu ◽  
...  

Planning anthropomorphic robot hand for manufacturing waterproof glove, we adopt the geometric modeling method and develop a dexterous robot hand. This robot hand has powerful fingertip force and dexterous motion. This paper presents the design and experiments of this robot hand which has 7 actuated degrees of freedom. Each part of the robot hand has been established the geometric model. For acquiring the powerful force, the finger is driven by tendon, and the driving force from the actuators has been transmitted to the fingers by wire ropes in the arm. The prototype of this robot hand has been developed and tested. This experiment demonstrates that the robot hand can wear the glove efficiently and make accurate gestures which is the user expected. The application of this robot hand in the waterproof glove production line can save the physical labor.


Author(s):  
Seunghoon Shin ◽  
Dongmin Choi ◽  
Mina Choi ◽  
Hyungpil Moon ◽  
Hyouk Ryeol Choi ◽  
...  

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