Fluid Lubricated Dexterous Finger Mechanism for Human-Like Impact Absorbing Capability

Kim, Yong-Jae; Yoon, Junsuk; Sim, Youngwoo

doi:10.1109/lra.2019.2929988

Cited by 45 publications

(8 citation statements)

References 7 publications

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“…8: Hands which exploit passive behaviours from underactuation and physical synergies. These display a variety of anthropomorphic features: (a) RBO Hand 2 [10], (b) Pisa/IIT Hand [11], (c) DLR Hand [56], (d) FLLEX hand [57], (e) Çulha Hand [64], (f) Xu Hand [42]. replicated on new objects with no need for additional training.…”

Section: B Wrist Control/reachingmentioning

confidence: 99%

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Sensing, Actuating, and Interacting Through Passive Body Dynamics: A Framework for Soft Robotic Hand Design

2023

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Robotic hands have long strived to reach the performance of human hands. The physical complexity and extraordinary capabilities of the human hand, in terms of sensing, actuation and cognitive abilities, makes achieving this goal challenging. At the heart of the physical structure of the hand is its' passive behaviours. Seen most clearly in soft robotic hands, these behaviours influence and affect the mechanical, sensing and control functionalities. With this perspective, we present a framework through which passivity in robot hands can be understood, by concretely identifying the role of passivity in the design, fabrication and control of soft hands. In this framework we focus on the interactions between the physical hand and the: environment, internal actuation, sensor morphology and wrist control. Taking these surrounding systems away, we are left with a passive soft hand whose behaviours emerge from external interactions. Inspired by the human hand, we define the role of these four key interacting pillars and review how state-of-the art robot hands utilize these four elements to aid functionality. We show how these pillars promote hybrid soft-rigid hands with rich behaviours, providing benefits in terms of the increased adaptability to uncertain environments, improved scalability and reduction in the cost of actuation, sensing and control. This review provides a conceptual framework for approaching hand design and analysis through consideration of the passive behaviours. This highlights not only the advances that can be made by approaching the problem in this way, but also the outstanding challenges that stem from this outlook.

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Section: B Wrist Control/reachingmentioning

confidence: 99%

“…The choice of tendon routing has a significant impact on the performance of hands. The FLLEX hand [57] is unique in the use of joint lubrication and large moment arms. The tendons are routed over the joints with virtual external circle pulleys.…”

Section: Actuator Interface/transmissionmentioning

confidence: 99%

Sensing, Actuating, and Interacting Through Passive Body Dynamics: A Framework for Soft Robotic Hand Design

2023

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“…Using unit quaternions to represent a rotation matrix and having hydraulic micro-actuators in the joints provides seamless motion as seen in the FLLEX hand [5]. Using quaternions prevents gimbal lock, thus we never lose a degree of freedom.…”

Section: Proposed Solutionmentioning

confidence: 99%

Spectral Theory of Defective Matrices for Robust Joint Motion

Ubosi¹

2022

Preprint

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“…The aim of this research is to design a robotic finger able to perform not only natural motion but also self-adaptive grasping. Y. J. Kim et al [11] proposed the FLLEX Finger, a 3-DoF (Degree of Freedom) finger mechanism which is cable-driven with unique VEC pulleys which allow high fingertip force and accurate kinematic modeling. As all the moving parts are submerged in lubrication fluid with a latex skin, the finger mechanism has high efficiency and control performance.…”

Section: Introductionmentioning

confidence: 99%

Design and Experiment of an Anthropomorphic Robot Hand for Variable Grasping Stiffness

et al. 2021

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This paper introduces an anthropomorphic robot hand that has variable grasping stiffness to unknown objects without damage. The robot hand has four fingers, 13 DoF (Degree of Freedom) with three SEA (Series Elastic Actuator) modules; in the index, middle, and ring finger. The performance for broader grasping stiffness using variable impedance control based on the parameter update block and the procedure of grasping capability evaluations of the robot hand are explained. The robot finger modules are constructed with a thumb, index, middle, and ring finger to complete the anthropomorphic type robot hand. The robot finger module is has 3 degrees of freedom and functions as one actuator based on an under-actuated mechanism. And external force measurement is possible in the fingertip force sensor and SEA (Series Elastic Actuator) module. For the variable impedance control implementation, a parameter update block is added to adjust the desired impedance parameter. To implement the parameter update block, we define and evaluate the correlation equation between the fingertip forceshore hardnessdamping ratio.INDEX TERMS anthropomorphic robot hand, modularized robot finger, multi-finger robot hand, variable grasping stiffness, impedance control, series elastic actuator module.

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Fluid Lubricated Dexterous Finger Mechanism for Human-Like Impact Absorbing Capability

Cited by 45 publications

References 7 publications

Sensing, Actuating, and Interacting Through Passive Body Dynamics: A Framework for Soft Robotic Hand Design

Sensing, Actuating, and Interacting Through Passive Body Dynamics: A Framework for Soft Robotic Hand Design

Spectral Theory of Defective Matrices for Robust Joint Motion

Design and Experiment of an Anthropomorphic Robot Hand for Variable Grasping Stiffness

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