Design of an Open Source Anthropomorphic Robotic Finger for Telepresence Robot

Trichada, Jittaboon; Wimonrut, Traithep; Tirasuntarakul, Narongsak; Choopojcharoen, Thanacha; Sakulkueakulsuk, Bawornsak

doi:10.1145/3467691.3467704

Cited by 2 publications

(3 citation statements)

References 4 publications

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“…This test uses magnetic encoder and Arduino Uno to check the degrees of each joint and control servo motors. The test will control the PIP joint and observe DIP joint of four common fingers around 100 times per position and compare with the kinematic equations from [1]. While the PIP joint is controlled by servo motor which moves from 0.0 degree to 78.0 degrees and back to 0.0 degree (100 times), the DIP joint moves from 0.0 degree to 68.1 degrees following the PIP joint by using a four-bar linkage mechanism.…”

Section: Structural Of Four Common Fingers Experimentsmentioning

confidence: 99%

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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: Structural Of Four Common Fingers Experimentsmentioning

confidence: 99%

“…This paper is an extended paper of our work initially presented in 2021 4th International Conference on Robot Systems (ICRSA 2021) [1]. The technology that the operator interacts with the robot remotely is called the telepresence robot.…”

Section: Introductionmentioning

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

“…This paper has been developed from "Design of an Open-Source Anthropomorphic Robotic Finger for Telepresence Robot" [1] to become a hand and forearm. As a big picture of the project is to develop the telepresence robot that can present the human feeling between the operator who controls a robot and participant who interactives with robot.…”

Section: Introductionmentioning

confidence: 99%

Design of Bio-Inspired Robot Hand Using Multiple Types of Actuators

Wimonrut,

Trichada,

Tirasuntarakul

et al. 2023

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

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Many prosthetic hands are focused on appearance and grip strength, however, gestures are also one of the performances that users need for communicating with others as body language to express their feeling and intention. For this paper, the initial prototype of the gesturing robotics hand is presented by using multiple types of actuators concept to maintain its appearance while the number of degrees of freedom (DOFs) is increased. The gesture performance of this robotic hand is improved by designing 2 DOFs in each finger; therefore, the entire hand has 15 joints, 10 DOFs, and one controllable wrist joint. In the detail of the design, all actuating mechanisms of 3 joints for each finger are specifically designed to maintain the human limb appearance. The Distal Phalange joint (DIP) used a linkage mechanism to acquire the Proximal Phalange joint's (PIP) movement by a 1:0.961 ratio due to appearance designed. The PIP joint is built with a cable-drive mechanism powered by a digital servo motor installed in the forearm. The Metacarpal joint (MCP) is driven by a micro linear actuator in the hand palm. A micro linear actuator was also selected to drive the wrist of the robot. The hand can perform 10 hand gestures follow common emoji hand gestures and holding 12 objects in the hand. The design of this bio inspired robot hand can be downloaded for educational purpose.

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Design of an Open Source Anthropomorphic Robotic Finger for Telepresence Robot

Cited by 2 publications

References 4 publications

Design of an Open Source Anthropomorphic Robotic Hand for Telepresence Robot

Design of an Open Source Anthropomorphic Robotic Hand for Telepresence Robot

Design of Bio-Inspired Robot Hand Using Multiple Types of Actuators

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