Development of a low cost anthropomorphic robot hand with high capability

Bae, Ji‐Hun; Park, Sung Woo; Park, Jae‐Han; Baeg, Moon-Hong; Kim, Doik; Oh, Sang–Rok

doi:10.1109/iros.2012.6386063

Cited by 44 publications

(16 citation statements)

References 13 publications

(15 reference statements)

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“…Most high-dimensional robotic hands are anthropomorphic in design, and usually include at least one actuator for each finger joint. Examples include the Utah/MIT dexterous hand (Jacobsen et al, 1986), the ShadowRobot Shadow hand (Kochan, 2005), the Robonaut 2 hand (Bridgwater et al, 2012), and the SimLab Allegro hand by Bae et al (2012). Each of these hands have 16-20 actuators, and the Shadow hand can be configured with up to 40 actuators.…”

Section: Traditional Robotic Graspingmentioning

confidence: 99%

Multi-segment soft robotic fingers enable robust precision grasping

Teeple

Koutros

Graule

et al. 2020

The International Journal of Robotics Research

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In this work, we discuss the design of soft robotic fingers for robust precision grasping. Through a conceptual analysis of the finger shape and compliance during grasping, we confirm that antipodal grasps are more stable when contact with the object occurs on the side of the fingers (i.e., pinch grasps) instead of the fingertips. In addition, we show that achieving such pinch grasps with soft fingers for a wide variety of objects requires at least two independent bending segments each, but only requires actuation in the proximal segment. Using a physical prototype hand, we evaluate the improvement in pinch-grasping performance of this two-segment proximally actuated finger design compared to more typical, uniformly actuated fingers. Through an exploration of the relative lengths of the two finger segments, we show the tradeoff between power grasping strength and precision grasping capabilities for fingers with passive distal segments. We characterize grasping on the basis of the acquisition region, object sizes, rotational stability, and robustness to external forces. Based on these metrics, we confirm that higher-quality precision grasping is achieved through pinch grasping via fingers with the proximally actuated finger design compared to uniformly actuated fingers. However, power grasping is still best performed with uniformly actuated fingers. Accordingly, soft continuum fingers should be designed to have at least two independently actuated serial segments, since such fingers can maximize grasping performance during both power and precision grasps through controlled adaptation between uniform and proximally actuated finger structures.

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Section: Traditional Robotic Graspingmentioning

confidence: 99%

Multi-segment soft robotic fingers enable robust precision grasping

Teeple

Koutros

Graule

et al. 2020

The International Journal of Robotics Research

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show abstract

“…One arm/hand pair manipulates the peg, while the second arm/hand pair manipulates the part containing the hole (Bae 2014b). General descriptions of the system shown in the video including the hand design (Bae et al 2012), arm/hand coordinated control (Kwon et al 2014), and peg-in-hole assembly (arm only) (Park et al 2013) are found in the literature with no supporting documentation for the tasks shown in the video.…”

Section: Arm-hand Assembly Strategiesmentioning

confidence: 99%

Multi-Robot Assembly Strategies and Metrics

2018

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We present a survey of multi-robot assembly applications and methods and describe trends and general insights into the multi-robot assembly problem for industrial applications. We focus on fixtureless assembly strategies featuring two or more robotic systems. Such robotic systems include industrial robot arms, dexterous robotic hands, and autonomous mobile platforms, such as automated guided vehicles. In this survey, we identify the types of assemblies that are enabled by utilizing multiple robots, the algorithms that synchronize the motions of the robots to complete the assembly operations, and the metrics used to assess the quality and performance of the assemblies.

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“…Physical space limitations and complexity issues are frequently restated as fundamental problem of artificial hand development. In 2012, KITECH hand leveraged a compromise between performance and complexity [143] (see Fig. 5b).…”

Section: B Research Platformsmentioning

confidence: 99%

“…Notable robot hands from the period between 2010 and 2015: (a) SmartHand transradial prosthesis[126], (b) KITECH Hand[143], (c) UB Hand IV[147].…”

mentioning

confidence: 99%

Sensors for Robotic Hands: A Survey of State of the Art

Saudabayev

Varol

2015

IEEE Access

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Abstract-Recent decades have seen significant progress in the field of artificial hands. Most of the surveys, which try to capture the latest developments in this field, focused on actuation and control systems of these devices. In this work, our goal is to provide a comprehensive survey of the sensors for artificial hands. In order to present the evolution of the field, we cover five year periods starting at the turn of the millennium. At each period, we present the robot hands with a focus on their sensor systems dividing them into categories such as prosthetics, research devices and industrial end-effectors. We also cover the sensors developed for robot hand usage in each era. Finally, the period between 2010 and 2015 introduces the reader the state-ofthe-art and also hints to the future directions in the sensor development for artificial hands.

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Development of a low cost anthropomorphic robot hand with high capability

Cited by 44 publications

References 13 publications

Multi-segment soft robotic fingers enable robust precision grasping

Multi-segment soft robotic fingers enable robust precision grasping

Multi-Robot Assembly Strategies and Metrics

Sensors for Robotic Hands: A Survey of State of the Art

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