A numerical simulation of the grasp operation by LARM Hand IV: A three finger robotic hand

Carbone, Giuseppe; González, Adrián Martínez

doi:10.1016/j.rcim.2010.09.005

Cited by 18 publications

(10 citation statements)

References 10 publications

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“…Our main interest is to develop a model that can describe hand motion during reach and grasp. Many grasping models have been already developed but none of them use a 3D total deformable hand model (Carbone and González (2011); Bae and Armstrong (2011); Kim et al (2009)). We have chosen to use the finite element method to model these phenomena.…”

Section: Numerical Strategymentioning

confidence: 99%

A novel approach to modelling and simulating the contact behaviour between a human hand model and a deformable object

Chamoret

Roth

Feng

et al. 2013

Computer Methods in Biomechanics and Biomedical Engineering

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A deeper understanding of biomechanical behaviour of human hands becomes fundamental for any human hand-operated activities. The integration of biomechanical knowledge of human hands into product design process starts to play an increasingly important role in developing an ergonomic product-to-user interface for products and systems requiring high level of comfortable and responsive interactions. Generation of such precise and dynamic models can provide scientific evaluation tools to support product and system development through simulation. This type of support is urgently required in many applications such as hand skill training for surgical operations, ergonomic study of a product or system developed and so forth. The aim of this work is to study the contact behaviour between the operators' hand and a hand-held tool or other similar contacts, by developing a novel and precise nonlinear 3D finite element model of the hand and by investigating the contact behaviour through simulation. The contact behaviour is externalised by solving the problem using the bi-potential method. The human body's biomechanical characteristics, such as hand deformity and structural behaviour, have been fully modelled by implementing anisotropic hyperelastic laws. A case study is given to illustrate the effectiveness of the approach.

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Section: Numerical Strategymentioning

confidence: 99%

A novel approach to modelling and simulating the contact behaviour between a human hand model and a deformable object

Chamoret

Roth

Feng

et al. 2013

Computer Methods in Biomechanics and Biomedical Engineering

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“…Several designs have been developed for LARM Hand at LARM in Cassino, as detailed for example in [14][15][16][17]. The LARM Hand prototypes have three one-DOF (Degree of Freedom) human-like fingers.…”

Section: Main Features Of Larm Hand IVmentioning

confidence: 99%

“…One of the most complex design issues for LARM Hand has been the design of a suitable driving mechanism that can be embedded in the finger body and remains within the finger body also during its movement, as shown in the scheme of Figure 2. This patented linkage-based driving mechanism of LARM Hand is described in full detail in references [14][15][16][17]. The LARM Hand IV, shown in Figure 3, is equipped with three force sensors on each finger for measuring the grasping force on each phalanx while its operation is achieved by means of a low-cost PLC, which directly drives the three DC motors.…”

Section: Main Features Of Larm Hand IVmentioning

confidence: 99%

“…This paper addresses the effects of the voltage dips on the performance of robotic grasping. A specific case of study is reported as referring to LARM Hand IV, a three-fingered robotic hand which has been designed and built at LARM at the University of Cassino [14][15][16][17]. A dedicated test rig has been designed and set up to generate predefined voltage dips to experimentally investigate their effect on the grasping of objects with different sizes.…”

Section: Introductionmentioning

confidence: 99%

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Effects of Voltage Dips on Robotic Grasping

et al. 2019

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This paper addresses the effects of electric power quality on robotic operations. A general overview is reported to highlight the main characteristics of electric power quality and it’s effects on a powered system by considering an end-user’s viewpoint. Then, the authors outline the influence of voltage dip effects by focusing on robotic grasping applications. A specific case study is reported, namely that of LARM Hand IV, a three-fingered robotic hand which has been designed and built at LARM in Cassino, Italy. A dedicated test rig has been developed and set up to generate predefined voltage dips. Experimental tests are carried out to evaluate the effects of different types of voltage dip on the grasping of objects.

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“…The grasping device is not considered, unlike in [26][27] [28] for rigid objects. Hence, in the grasp synthesis the proposed contact points may not be reachable by certain type of robotic hands, but they are always useful for object fixturing in industrial applications.…”

Section: Introductionmentioning

confidence: 99%

Grasp analysis and synthesis of 2D articulated objects with n links

Tovar

Suárez

2015

Robotics and Computer-Integrated Manufacturing

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This paper proposes a solution to the problem of grasp analysis and synthesis of 2D articulated objects with n links considering frictionless contacts. The boundary of each link of the object is represented by a finite set of boundary points allowing links of any shape to be considered. Grasp analysis is carried out to verify whether a set of contact points on the object boundary allows a force-closure grasp, while the goal of grasp synthesis is to determine a set of contact points that allows a force-closure grasp. The paper describes the process of finding the elements of the generalized wrench vector generated by a force applied to any link of the articulated object and a procedure to search for a force-closure grasp based on these generalized wrenches. The approach has been implemented and some examples are included in the paper.

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A numerical simulation of the grasp operation by LARM Hand IV: A three finger robotic hand

Cited by 18 publications

References 10 publications

A novel approach to modelling and simulating the contact behaviour between a human hand model and a deformable object

A novel approach to modelling and simulating the contact behaviour between a human hand model and a deformable object

Effects of Voltage Dips on Robotic Grasping

Grasp analysis and synthesis of 2D articulated objects with n links

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