Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II

Kawasaki, Haruhisa; Komatsu, T.; Uchiyama, Kenji

doi:10.1109/tmech.2002.802720

Cited by 483 publications

(160 citation statements)

References 14 publications

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“…The hand motion is controlled by the data of three different analog voltages (x, y and z) in three dimensional motion. Gifu Hand-II developed with distributed tactile sensor has a high potential to do dexterous object manipulation (Kawasaki et al, 2002). Hand gesture recognition using data glove and accelerometer is proposed by Dharaskar et al (2012).…”

Section: Resultsmentioning

confidence: 99%

Hand Gesture Based Control of Robotic Hand using Raspberry Pi Processor

Deepan¹,

Rajavarman²,

Narasimhan³

2015

Asian J. of Scientific Research

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A Novel approach has been proposed in this paper for the control of an intelligent hand which can mimic the natural movement of the human hand. Implementing such intellectual hand finds its application in humanoid as well as personal robots. In this paper vision-based interaction techniques are used to track the motion of the fingers and to extract the motion of the hand gesture accurately and promptly. Accuracy and effectiveness plays the key role for real time motion based applications. Raspberry pi processor is used to control the entire set up which has a camera module attached in it, to capture the motion. Face subtraction, skin color detections are used to characterize the hand in the video. Mean shift algorithm is used to track the motion of the finger. The mechanical structure and the ratio between number of actuators and number of Degrees Of Freedoms (DOFs) have been optimized in order to cope with the strict size and weight constraints that are typical application of artificial hands for the implication of humanoid robotics. The proposed hand has a structure similar to that of the natural hand featuring articulated fingers (every finger with 4 degree of freedom) which is controlled by DC motors.

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Section: Resultsmentioning

confidence: 99%

Hand Gesture Based Control of Robotic Hand using Raspberry Pi Processor

Deepan¹,

Rajavarman²,

Narasimhan³

2015

Asian J. of Scientific Research

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“…Consequently, the dominant paradigm of hand design leads to mechanically complex, rigid hands with many degrees of freedom (Kawasaki et al, 1999), some with compliant actuation (Grebenstein et al, 2012).…”

Section: Force Closurementioning

confidence: 99%

Exploitation of Environmental Constraints in Human and Robotic Grasping

Deimel¹,

Eppner²,

Álvarez-Ruiz³

et al. 2016

Springer Tracts in Advanced Robotics

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We investigate the premise that robust grasping performance is enabled by exploiting constraints present in the environment. These constraints, leveraged through motion in contact, counteract uncertainty in state variables relevant to grasp success. Given this premise, grasping becomes a process of successive exploitation of environmental constraints, until a successful grasp has been established. We present support for this view found through the analysis of human grasp behavior and by showing robust robotic grasping based on constraint-exploiting grasp strategies. Furthermore, we show that it is possible to design robotic hands with inherent capabilities for the exploitation of environmental constraints.

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“…Even though existing robotic hands include various sensors, they do not deliver contact information with a satisfying spatial resolution Lovchik and Diftler, 1999) or the sensors are not flexible (Kawasaki et al, 2002) and thus complicate fine manipulation tasks.…”

Section: Human-like Sensingmentioning

confidence: 99%

Robotics of human movements

Smagt

Grebenstein

Urbanek

et al. 2009

Journal of Physiology-Paris

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a b s t r a c tThe construction of robotic systems that can move the way humans do, with respect to agility, stability and precision, is a necessary prerequisite for the successful integration of robotic systems in human environments. We explain human-centered views on robotics, based on the three basic ingredients (1) actuation; (2) sensing; and (3) control, and formulate detailed examples thereof.

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Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II

Cited by 483 publications

References 14 publications

Hand Gesture Based Control of Robotic Hand using Raspberry Pi Processor

Hand Gesture Based Control of Robotic Hand using Raspberry Pi Processor

Exploitation of Environmental Constraints in Human and Robotic Grasping

Robotics of human movements

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