Design of 5 D.O.F Robot Hand with an Artificial Skin for an Android Robot

Choi, Dongwoon; Lee, Dong‐Wook; Shon, Woong-Hee; Lee, Ho-Gil

doi:10.5772/26282

Cited by 4 publications

(5 citation statements)

References 12 publications

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“…This experiment is a test of the basic hand gestures and symbols that are chosen from frequently used in daily life. The robotic hand successfully posed 9 common gestures including high-five (1), peace (2), ok (3), index pointing (4), grasp (5), promise (6), love (7), check (8), and good job (9) as shown in Figure 28. The purpose of this robotic hand design does not focus on the adductionabduction movement but to reduce the number of motors.…”

Section: Results Of Gesture Experimentsmentioning

confidence: 99%

“…The flexionextension movement of thumb is used to press objects towards the palm of the hand while the abduction-adduction movement of thumb is used to grasp the various objects. Even though the abduction-adduction motion is very important for grasp [8], this robot hand challenges to design by using only flexion-extension movement to achieve the purpose of this hand in order to reduce the number of motors to be installed on forearm. From the reduction to 1 DOF per joint of the thumb, the importance of thumb angles must be emphasized, which affects the grasping performance of the hand.…”

Section: Finger Designmentioning

confidence: 99%

See 1 more Smart Citation

Design of an Open Source Anthropomorphic Robotic Hand for Telepresence Robot

Trichada¹,

Wimonrut²,

Tirasuntarakul³

et al. 2023

Adv. sci. technol. eng. syst. j.

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Most anthropomorphic robotic hands use a lot of actuators to imitate the number of joints and the movement of the human hand. As a result, the forearm of the robot hand has a large size for the installation of all actuators. This robot hand is designed to reduce the number of actuators, but also retain the number of movable joints like a human hand by using the fourbar linkage mechanism and only flexion-extension movements. This stamen is added in the problem statement according to the reviewer's comment. The special features of this robotic hand are the ability to adjust the link length and the range of rotation for each joint to suit various applications and can fabricate with 3D printing and standard parts with costing about $750. All hardware CAD files and equations are published on the GitHub website, which benefits for researchers to utilize as an open-source approach that their project might be further expanded in the future. The anthropomorphic robotic hand has five fingers, 16 joints, and 12 active Degrees of Freedom (DOFs) with 12 servo motors applied to finger motion and one for wrist motion. The structure of the hand is designed using the average of Asian human hands in combination with the golden ratio. All servo motors are installed in the forearm designed in a ventilated structure with 12V vent exhaust fan motor to stabilize the operating temperature of the robotic hand. Size and weight of the hand included with the forearm are 20×54×16.5 centimeters and 2.2 kilograms respectively. The hand has achieved human-like movement by using a four-bar linkage mechanism and tendon with PTFE tube to guide operation path of the tendon with the lowest friction force. This paper presents the design processes, the experimental set-up, and the evaluation of the finger movements. From the experiment of grasping objects, this hand was able to grasp 10 basic grasp types including 32 different objects, perform 9 common gestures, and lift the object to 450 grams. From this paper, the kinematic equation is proved that the designed finger structure can move exactly as the equation with maximum error of repeatability test around 1.6 degrees.

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Section: Results Of Gesture Experimentsmentioning

confidence: 99%

Section: Finger Designmentioning

confidence: 99%

Design of an Open Source Anthropomorphic Robotic Hand for Telepresence Robot

Trichada¹,

Wimonrut²,

Tirasuntarakul³

et al. 2023

Adv. sci. technol. eng. syst. j.

View full text Add to dashboard Cite

show abstract

“…Most robotic hands in industrial applications have 1 D.O.F (degree of freedom) or 2 D.O.F gripers, and they are designed for precise, repetitive operations. The human-like robotic hands [17] are being designed for robots operating in a human friendly environment, such as the home, office, hospital, school, and so on. They have up to 16 D.O.F.…”

Section: Arms/hands (Manipulators)mentioning

confidence: 99%

“…This example shows how psychological factors influence technological ones. The authors of [17] mention that the hand size is very important, because it must be matched to the whole body in proportion. It can be hard to make a small-sized hand, due to its complexity, but if the proportion is contrary to the human body, it can look ugly.…”

Section: Arms/hands (Manipulators)mentioning

confidence: 99%

Synergistic Sensory Platform: Robotic Nurse

Peshko

Pawluczyk²,

Wick

2013

JLPEA

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This paper presents the concept, structural design and implementation of components of a multifunctional sensory network, consisting of a Mobile Robotic Platform (MRP) and stationary multifunctional sensors, which are wirelessly communicating with the MRP. Each section provides the review of the principles of operation and the network components’ practical implementation. The analysis is focused on the structure of the robotic platform, sensory network and electronics and on the methods of the environment monitoring and data processing algorithms that provide maximal reliability, flexibility and stable operability of the system. The main aim of this project is the development of the Robotic Nurse (RN)—a 24/7 robotic helper for the hospital nurse personnel. To support long-lasting autonomic operation of the platform, all mechanical, electronic and photonic components were designed to provide minimal weight, size and power consumption, while still providing high operational efficiency, accuracy of measurements and adequateness of the sensor response. The stationary sensors serve as the remote “eyes, ears and noses” of the main MRP. After data acquisition, processing and analysing, the robot activates the mobile platform or specific sensors and cameras. The cross-use of data received from sensors of different types provides high reliability of the system. The key RN capabilities are simultaneous monitoring of physical conditions of a large number of patients and alarming in case of an emergency. The robotic platform Nav-2 exploits innovative principles of any-direction motion with omni-wheels, navigation and environment analysis. It includes an innovative mini-laser, the absorption spectrum analyser and a portable, extremely high signal-to-noise ratio spectrometer with two-dimensional detector array

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“…1. In February 2009, a musical [18] jointly performed by human performers, EveR-3 [19] and SeRoPi-1 [20], was hosted at the National Theater of Korea, Seoul, Korea. In May of that year, SeRoPi-2 [21] from KITECH performed with human performers at the same location [22].…”

Section: Introductionmentioning

confidence: 99%

Versatile Humanoid Robots for Theatrical Performances

Lin

Cheng

Huang

et al. 2013

International Journal of Advanced Robotic Systems

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The purpose of this research is to develop multitalented humanoid robots, based on technologies featuring high-computing and control abilities, to perform onstage. It has been a worldwide trend in the last decade to apply robot technologies in theatrical performance. The more robot performers resemble human beings, the easier it becomes for the emotions of audiences to be bonded with robotic performances. Although all kinds of robots can be theatrical performers based on programs, humanoid robots are more advantageous for playing a wider range of characters because of their resemblance to human beings. Thus, developing theatrical humanoid robots is becoming very important in the field of the robot theatre. However, theatrical humanoid robots need to possess the same versatile abilities as their human counterparts, instead of merely posing or performing motion demonstrations onstage, otherwise audiences will easily become bored. The four theatrical robots developed for this research have successfully performed in a public performance and participated in five programs. All of them were approved by most audiences.

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Design of 5 D.O.F Robot Hand with an Artificial Skin for an Android Robot

Cited by 4 publications

References 12 publications

Design of an Open Source Anthropomorphic Robotic Hand for Telepresence Robot

Design of an Open Source Anthropomorphic Robotic Hand for Telepresence Robot

Synergistic Sensory Platform: Robotic Nurse

Versatile Humanoid Robots for Theatrical Performances

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