Design and Development of a Surgical Robotic Hand with Hybrid Structure

Yazici, Mustafa Volkan; Kahveci, Aytaç; Kiziltas, Faruk Sanberk; Mulayim, Naciye; Gezgin, Erkin

doi:10.1109/tiptekno.2018.8597069

Cited by 3 publications

(1 citation statement)

References 7 publications

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“…A similar understanding of word hybrid is present in [38]. In the case of work presented, in [37] word hybrid is used for describing the hand with three mechanical and three soft fingers. Additionally, in work [35] word hybrid was used to characterise linkage and tendon driven-based fingers.…”

Section: Underactuated Designsmentioning

confidence: 93%

PUT-Hand—Hybrid Industrial and Biomimetic Gripper for Elastic Object Manipulation

et al. 2020

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In this article, the design of a five-fingered anthropomorphic gripper is presented specifically designed for the manipulation of elastic objects. The manipulator features a hybrid design, being equipped with three fully actuated fingers for precise manipulation, and two underactuated, tendon-driven digits for secure power grasping. For ease of reproducibility, the design uses as many off-the-shelf and 3D-printed components as possible. The on-board controller circuit and firmware are also presented. The design includes resistive position and angle sensors in each joint, resulting in full joint observability. The controller has a position-based controller integrated, along with USB communication protocol, enabling gripper state reporting and direct motor control from a PC. A high-level driver operating as a Robot Operating System node is also provided. All drives and circuitry of the PUT-Hand are integrated within the hand itself. The sensory system of the hand includes tri-axial optical force sensors placed on fully actuated fingers’ fingertips for reaction force measurement. A set of experiments is provided to present the motion and perception capabilities of the gripper. All design files and source codes are available online under CC BY-NC 4.0 and MIT licenses.

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Section: Underactuated Designsmentioning

confidence: 93%

PUT-Hand—Hybrid Industrial and Biomimetic Gripper for Elastic Object Manipulation

et al. 2020

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Characterization of 3d Printed Conductive Flexible Materials for Soft Robotic Applications

Arslan,

Selvi,

Totuk

2024

International Journal of 3D Printing Technologies and Digital Industry

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Soft robots composed of compliant and flexible materials can safely interact with humans and adapt to unstructured environments. However, integrating sensors, actuators, and control circuits into soft structures remains challenging. Additive manufacturing shows promise for fabricating soft robots with embedded electronics using conductive flexible composites. Yet, the electromechanical behavior of 3D printed conductive structures under soft robot-relevant strains is not well understood. Optimized design requires characterizing the interplay between a soft component’s changing shape and electrical properties during deformation. This study investigates the application of 3D printing technology to fabricate various geometries using a conductive flexible material for soft robotic applications. The primary objective is to understand and characterize the behavior of differently shaped 3D printed conductive materials under various mechanical stresses. Two distinct test setups are designed for conducting bending and tensile tests on the produced materials. Diverse geometries are printed using the conductive flexible material with desirable mechanical and electrical properties to employ tensile and bending tests. The experiments reveal a direct correlation between shape change and electrical resistance of the 3D printed materials, providing valuable insights into their adaptability for soft robotics. This research not only contributes to the field of flexible conductive materials but also lays the foundation for integrating these materials into future engineering designs, potentially enabling the development of highly responsive and adaptable devices for various industries.

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Design of Soft Fingers for a Surgical Robotic Hand with Hybrid Structure

2021

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Utilization of robot manipulators started to be preferred in many medical applications due to the rapid technological developments occurred in the last decade. Thanks to the studies and applications in the related literature, leaving the usage of classical industrial robot manipulator structures, new designs with respect to the application constraints have been focused on. In light of this, current study focuses on the design of soft fingers that will allow the usage of a robotic hand with hybrid structure on soft tissue handling that requires high precision and compliance. Throughout the study various prototype trials were carried out and their suitability for the system was discussed.

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Design and Development of a Surgical Robotic Hand with Hybrid Structure

Cited by 3 publications

References 7 publications

PUT-Hand—Hybrid Industrial and Biomimetic Gripper for Elastic Object Manipulation

PUT-Hand—Hybrid Industrial and Biomimetic Gripper for Elastic Object Manipulation

Characterization of 3d Printed Conductive Flexible Materials for Soft Robotic Applications

Design of Soft Fingers for a Surgical Robotic Hand with Hybrid Structure

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