A low-cost linkage-spring-tendon-integrated compliant anthropomorphic robotic hand: MCR-Hand III

Yang, Haosen; Wei, Guowu; Ren, Lei; Qian, Zhihui; Wang, Kunyang; Xiu, Haohua; Liang, Wei

doi:10.1016/j.mechmachtheory.2020.104210

Cited by 30 publications

(9 citation statements)

References 44 publications

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“…The overall classification system shows clearly the versatility and range of human hands. Based on this physiological standpoint, many current researches present posture versatility of artificial hands as a performance standard similar to the grasping classification in figure 5 [43][44][45][46][47].…”

Section: Motion Mechanismmentioning

confidence: 99%

Journey from human hands to robot hands: biological inspiration of anthropomorphic robotic manipulators

Han,

Harnett

2024

Bioinspir. Biomim.

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The development of robotic hands that can replicate the complexmovements and dexterity of the human hand has been a longstanding challenge forscientists and engineers. A human hand is capable of not only delicate operation butalso crushing with power. For performing tasks alongside and in place of humans, ananthropomorphic manipulator design is considered the most advanced implementation,because it is able to follow humans’ examples and use tools designed for people. Inthis article, we explore the journey from human hands to robot hands, tracing thehistorical advancements and current state-of-the-art in hand manipulator development.We begin by investigating the anatomy and function of the human hand, highlightingthe bone-tendon-muscle structure, skin properties, and motion mechanisms. We thendelve into the field of robotic hand development, focusing on highly anthropomorphicdesigns. Finally, we identify the requirements and directions for achieving the nextlevel of robotic hand technology.

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Section: Motion Mechanismmentioning

confidence: 99%

Journey from human hands to robot hands: biological inspiration of anthropomorphic robotic manipulators

Han,

Harnett

2024

Bioinspir. Biomim.

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“…The three pairs mentioned above ensure the synchronous movement of the load wheel and the excitation wheel. According to the basic principle of kinematics, 21,22 when the balance elbow swings at an angular velocity of ω, the linear velocity v2 of the balance elbow at the center of the load wheel is as followthe direction of v2 is shown in the figure, and L is the length of the balance elbow. Since the balance elbow and the load wheel form a revolute pair, the speed of the two parts in the rotating center is the same, and the velocity v3 of the load wheel in the rotating center is equal to v2.…”

Section: Principle and Structure Of Vibration Damping Testing Mechanismmentioning

confidence: 99%

Design of vibration damping test mechanism for suspension system of high speed tracked vehicle based on vertical linkage decoupling

Xue-dong

Guo

Chen

et al. 2021

Proceedings of the Institution of Mechanical Engineers, Part C:

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The suspension test-rig is restricted by the compound swing motion of the load wheel in a high-speed tracked vehicle, and cannot test the damping performance for the suspension system of the high-speed tracked vehicle with the track. A vibration damping testing mechanism using vertical linkage to decouple the compound swing motion of the load wheel is proposed for suspension performance testing with the track. Using Hertz elastic contact theory to solve the stiffness coefficient between load wheel and excitation wheel, a virtual prototype model for vibration damping test mechanism with vertical linkage is established in ADAMS. Correctness of the virtual prototype model is verified by experiment. The motion decoupling ability of the vibration damping testing mechanism is verified by simulation. The dynamic characteristics for each pair of guide and slider in vibration damping testing mechanism are analyzed under the condition of maximum excitation force and displacement, and the selection criteria of slider and guide contained in the motion pair components are acquired. The mechanism decouples the compound swing motion of the load wheel successfully, and can make suspension system performance testing in high-precision for the high-speed tracked vehicle with track realized, playing an important role in parameters design and performance optimization for the high-speed tracked vehicle.

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“…Tactile sensors represent another important means by which robots can simulate human perception of environmental information. Research into tactile sensing technology has lagged behind the application of vision sensors for robots [1][2][3][4] . Xin Feng et al conducted a comprehensive review of the latest advancements in computer vision algorithms and their hardware implementation [5] .…”

Section: Introductionmentioning

confidence: 99%

Research on target recognition in the end effector of mechanical gripper

Yang,

Chen,

Yuan

et al. 2024

International Conference on Mechatronic Engineering and Artificial Intelligence (MEAI 2023)

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To address the problem of excessive dependence on the main control unit and poor adaptability of the mechanical claw movement, the paper proposes a feasible solution to the end-point visual perception of the mechanical arm, which improves the adaptability and intelligence of the robot. Based on the AI terminal Kendryte K210 module, the paper constructed an image sample training set, completed model training, and then integrated the module into the mechanical arm endpoint to achieve target recognition and synchronous mechanical arm movements. The experiments show that the mechanical claw designed with this solution can perceive the spatial position of the target object based on target recognition, achieving the goal of "not dropping heavy objects and not breaking fragile objects," making target recognition more flexible in the mechanical hand.

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A low-cost linkage-spring-tendon-integrated compliant anthropomorphic robotic hand: MCR-Hand III

Cited by 30 publications

References 44 publications

Journey from human hands to robot hands: biological inspiration of anthropomorphic robotic manipulators

Journey from human hands to robot hands: biological inspiration of anthropomorphic robotic manipulators

Design of vibration damping test mechanism for suspension system of high speed tracked vehicle based on vertical linkage decoupling

Research on target recognition in the end effector of mechanical gripper

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