Design and control of the BUAA four-fingered hand

Zhang, Yuan; Han, Zhen Xue; Zhang, H.; Shang, Xiaopeng; Wang, T.; Guo, Weidong; Gruver, W.A.

doi:10.1109/robot.2001.933001

Cited by 24 publications

(13 citation statements)

References 10 publications

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“…Similarly the BUAA Hand [25], which is highly dexterous with 4 fingers and 16 DOFs can perform various tasks dexterously but the drawback is the cosmetic appearance and weight of the hand (about 1.4kg) due to several actuators and sensors.…”

Section: Red Zone Studiesmentioning

confidence: 99%

A Novel Approach for Classification of Underactuated Mechanism in Myoelectric Hand

Mariappan¹,

Jan²,

Iftikhar³

2012

AJBE

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Concept of underactuation makes it possible to create such robotic hands that automatically adapt to the shape of the grasped object without using a complex control system or a large number of actuators. In underactuated hand prostheses, depending upon control strategy used, one can get more and more degree of freedoms (DOFs) to make its prosthetic device more versatile and easy to control. In spite of all the great work done by the researchers on underactuated prosthetic hands, no one has given any relationship between the number of motors (or actuators) and the number of degree of freedoms (DOFs). This novel concept named as "Coefficient of UAM" (CoUAM) is "the ratio between numbers of motors to the number of DOFs". By reviewing various known studies, CoUAM of randomly selected prosthetic hands is calculated separately and analyzed merits/demerits, cost, weight, appearance, ease of controllability and their functionality to make this approach more objective and useful for the future researchers. Hence target of this paper is to assess a Coefficient of UAM (CoUAM) of different types of prostheses available and then classify them into red, green and yellow zones.

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Section: Red Zone Studiesmentioning

confidence: 99%

A Novel Approach for Classification of Underactuated Mechanism in Myoelectric Hand

Mariappan¹,

Jan²,

Iftikhar³

2012

AJBE

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“…The Stanford Hand/JPL [19], Utah/MIT dexterous hand [20], and the fourteen degrees-of-freedom Robonaut hand for space operations [21] were among the first high-DoF hands to be developed. The BUAA/Beijing University [22] consists of four fingers with a total of 16 DoFs, and the NTU hand [23] consists of a five-finger design, which accounts for an overall of seventeen DoFs. In the Gifu Hand II [24], and III [25] the sixteen actuators required for the movement of its 20 joints have been incorporated inside the fingers as opposed to many of the other grippers.…”

Section: Introductionmentioning

confidence: 99%

A Reconfigurable Gripper for Dexterous Manipulation in Flexible Assembly

2018

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In this paper, a high-speed multi-fingered reconfigurable gripper is presented. The aim is to create a robotic end effector that is capable of handling parts of different geometries and weight. It consists of three fingers, accounting for a total of eight Degrees of Freedom (DoFs). The paper discusses the design, control, and reconfiguration aspects of the gripper, and demonstrates its applicability to different manipulation tasks. The gripper has the ability of high-force movement and its high number of DoFs enables it to grasp a large variety of geometries, while retaining the design simplicity. The preliminary grasping experiments highlight its potential in robotic handling applications in both research and production environments.

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“…Mechanical grippers having two fingers are widely used in industrial application and, mostly, in industrial robots. 1 However, multi-fingered robotic devices and hands have been also widely investigated, as reported for example in references [2][3][4][5][6][7][8][9][10][11][12][13][14][15]. This type of devices tries to mimic the performances of human hands in order to make high flexibility multi-purpose devices.…”

Section: Introductionmentioning

confidence: 99%

“…This type of devices tries to mimic the performances of human hands in order to make high flexibility multi-purpose devices. Significant examples can be identified in the Stanford/JPL hand, 5 the TUAT/Karlsruhe Humanoid Hand, 6 the DLR's Hand II, 7 the BUAA/Bejing University four-fingered hand, 8 Manus Colobi, 9 the TBM hand, 10 the Barrett Hand, 11 and the hands proposed in references [12], [13] and [14] Most of the available multifingered prototypes have a high number of degrees of freedom, a complex control and a high cost. The proposed hand is low-cost and easy-operation that means the new prototype has been built with commercial components and it can be controlled easily.…”

Section: Introductionmentioning

confidence: 99%

Design and tests of a three finger hand with 1-DOF articulated fingers

2005

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This paper presents the design of a new low-cost, easy operation hand having three 1-dof anthropomorphic fingers of a human size. Experimental results on human cylindrical grasping have been used for designing a 1-dof anthropomorphic finger of a human size. The mechanical design of this finger has been mainly focused on a suitable articulated mechanism. This mechanism transmits the power to the phalanxes for a human-like grasping motion and it can be embedded in the body of the finger itself. The design of a three finger hand has been presented as based on the designed finger module. Experimental tests on a built hand prototype have been carried out in order to show the feasibility of the proposed design and validate its operation.

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Design and control of the BUAA four-fingered hand

Cited by 24 publications

References 10 publications

A Novel Approach for Classification of Underactuated Mechanism in Myoelectric Hand

A Novel Approach for Classification of Underactuated Mechanism in Myoelectric Hand

A Reconfigurable Gripper for Dexterous Manipulation in Flexible Assembly

Design and tests of a three finger hand with 1-DOF articulated fingers

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