A novel approach to mechanical design of articulated fingers for robotic hands

Lotti, Fabrizio; Vassura, Gabriele

doi:10.1109/irds.2002.1043998

Cited by 68 publications

(41 citation statements)

References 9 publications

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“…The better performances of prosthetic hand are achieved by increasing the number of degrees of freedom and provide feedback signals such as position, velocity and grasping forces. Many papers are introduced in the past to mimic the extraordinary flexibility motion and use with a robotic gripper, which come close to the properties of a human hand, but clearly are lacking essential requirements for industrial use, such as robustness and cost [11].…”

Section: Gripper Functionalitymentioning

confidence: 99%

ANALYSIS of Control Force Grasping for a Multifunctional Five Fingered Robot to Pick-up Various of Components

Widhiada

Kumara

Nindhia

2016

MATEC Web of Conferences

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Abstract. Multi-fingered robot gripper has become popular in the major research topics as grasping an object in robotic systems. The author considers a matter of style-based control model for a multi-fingered robot hand grasping an object with a known geometric characteristics. This paper introduces design process and analysis of contact force the five fingered gripper suitable to handle several of objects. The author applied Simulink/SimMechanics, Support package Arduino and Inventor software packages to facilatate and integrated the design of contact force gripper systems. The advance of PID control is used to control dynamics motions of the five fingered gripper systems. The multifunction finger's gripper is developed to handle the various components. Contact force between fingertips and object surface is computed using the Hooke law concept. The analysis of experiment result shows the optimum of contact forces are achieved to hold the object. The spring and damper algorithm is used to compute the interaction of force between fingertips and object surface.

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Section: Gripper Functionalitymentioning

confidence: 99%

ANALYSIS of Control Force Grasping for a Multifunctional Five Fingered Robot to Pick-up Various of Components

Widhiada

Kumara

Nindhia

2016

MATEC Web of Conferences

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“…In order to actuate the finger joints in the robotic hand artificialitists has been using electric motors quite frequently [7], [8]. Electric motors have been proved to be very accurate in position and velocity control and also provide much force for the grasping function required by the robotic hand.…”

Section: Literature Reviewmentioning

confidence: 99%

UTHM HAND: Kinematics behind the Dexterous Anthropomorphic Robotic Hand

Zaid

Yaqub

2012

Communications in Computer and Information Science

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Abstract. This paper describes a novel wireless robotic hand system. The system is operated under master-slave configuration. A human operator teleoperates the slave robotic hand by wearing a master glove embedded with BendSensors. Bluetooth has been chosen as the communication medium between master and slave. The master glove is designed to acquire the joint angles of the operator's hand and send to slave robotic hand. The slave robotic hand imitates the movement of human operator. The UTHM robotic hand comprises of five fingers (four fingers and one thumb), each having four degrees of freedom (DOF), which can perform flexion, extension, abduction, adduction and also circumduction. For the actuation purpose, pneumatic muscles and springs are used. The paper exemplifies the design for the robotic hand and provides the kinematic analysis of all the joints of the robotic hand. It also discusses different robotic hands that have been developed before date.

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“…an anthropomorphic preshaping (Figliolini and Ceccarelli, 2002;Ceccarelli et al, 2006b,a), or to the forces generated by the phalanges (de Visser and Herder, 2000). Since the latter approach does not require a particular closing motion, it has lead to the introduction of self-adaptive fingers in prosthetics (de Visser and Herder, 2000;Lotti and Vassura, 2002;Carrozza et al, 2004). However, it is possible to design an artificial finger that has an anthropomorphic closing motion while keeping the self-adaptation property as also very recently proposed in Wu et al (2009).…”

Section: Anthropomorphic Preshapingmentioning

confidence: 99%

The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers

Birglen

2011

Mech. Sci.

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Abstract. In this paper, the issue of the kinematic -as opposed to dynamic -preshaping of self-adaptive robotic fingers driven by linkages is discussed. A method to obtain designs of these fingers capable of various behaviours during their closing motions is presented. The method is based on using triggered passive elements in carefully selected joints of the finger and the selection or optimization of geometric parameters to obtain particular kinematic relationships between the motions of the phalanges. This method is very general and can be applied to any self-adaptive robotic finger in order to obtain many different types of closing motions. Examples given in this paper are focusing on two different preshaping motions, the first one aims at allowing pinch grasps while the second mimics a human finger. The fundamental aim of this paper is to show that various preshapings of self-adaptive fingers are possible, not just one, and to give two step-by-step examples.

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A novel approach to mechanical design of articulated fingers for robotic hands

Cited by 68 publications

References 9 publications

ANALYSIS of Control Force Grasping for a Multifunctional Five Fingered Robot to Pick-up Various of Components

ANALYSIS of Control Force Grasping for a Multifunctional Five Fingered Robot to Pick-up Various of Components

UTHM HAND: Kinematics behind the Dexterous Anthropomorphic Robotic Hand

The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers

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