Multifingered robot hand with selfadaptability

Rakić, Mina

doi:10.1016/0736-5845(89)90074-4

Cited by 52 publications

(17 citation statements)

References 1 publication

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“…5) (15) where k2. and 82% are an arbitrary initial configuration, for example, the instant when the contact on the first phalaux is lost.…”

Section: Stablementioning

confidence: 99%

“…On the other hand, very few prototypes involve a smaller number of actuators without decreasing the number of degeesof freedom. This approach, namely undemctuation can be used through the use of passive elements like springs or mechanical limits leading to a mechanical adaptation of the finger to the shape of the object t o be grasped [15,16,171. A similar approach consists in using elastic phalanges, which increase the adaptation capability but decrease considerably the strength of the Underactuation in robotic hands generates intriguing properties.…”

Section: Introductionmentioning

confidence: 99%

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On the force capability of underactuated fingers

Birglen

Gosselin

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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web site: wwwrobot.gmc.ulaval.ca/recherche/themeO4~a.ht11il A b s t r a c t This paper studies the force capability of a particular class of underactuated fingers. Force capability is defined as the ability to create an external wrench onto a fixed object. The concept of underactuation in robotic fingers, with fewer actuators than degrees of freedom (DOF) through the use of springs and mechanical limits, allows the hand to adjust itself to an irregularly shaped object without complex control strategy and numerous sensors. However, in some configurations, the force distribution in an underactuated finger can degenerate. The finger can no longer apply forces on the object, leading in some cases to the ejection of the latter from the hand. This paper focuses on a 2-DOF finger and studies its ability to seize objects with a secure grasp.

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“…5) (15) where k2. and 82% are an arbitrary initial configuration, for example, the instant when the contact on the first phalaux is lost.…”

Section: Stablementioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

On the force capability of underactuated fingers

Birglen

Gosselin

2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422)

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show abstract

“…doi:10.1016/j.mechmachtheory.2005. 10.004 springs leading to a mechanical adaptation of the finger to the shape of the object to be grasped [8][9][10][11][12]. The idea to approach the spatial complement of the shape of an object to ensure a distributed grasp is rather common in biologically-inspired robotics: e.g.…”

Section: Introductionmentioning

confidence: 99%

Grasp-state plane analysis of two-phalanx underactuated fingers

Birglen

Gosselin

2006

Mechanism and Machine Theory

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“…This second group includes hands of extreme versatility and dexterity [I], [2], [3], [4], [5], [6], [7], [8], often designed using the human hand as a model, trying to emulate the dexterity by increasing the number of degrees of freedom and the precision of measurements and control systems. The human hand however is highly complex [9], and according to Schlesinger's classification [IO] it can grasp objects in different holds: cylindrical, with the fingertips, hooked, spherical and lateral palmar.…”

Section: Introductionmentioning

confidence: 99%

Design and Fuzzy Control of a Pneumatic Advanced Gripper

Mattiazzo¹,

Mauro²,

Velardocchia³

et al. 1998

Intelligent Automation & Soft Computing

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A gripper consisting of two fingers and one opposing mobile palm is presented. Each finger has three degrees of freedom, is modular and can be assembled in different ways. Each degree of freedom is operated by one pneumatic actuator, powered with digital, 2 ways/2 positions high frequency, PWM driven pneumatic valves. The hand is provided with piezoresistive tactile sensors and controlled in fuzzy logic. The control was developed in order to ensure constant contact forces while grasping. It was experimentally tested which sensors are activated when stable grasping conditions for cylindrical objects are reached. The approach procedure of the fingers to the object to be grasped let the system determine if the object position in the workspace let a stable grasp to be possible. Only when this condition is verified the grasping force is controlled.

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Multifingered robot hand with selfadaptability

Cited by 52 publications

References 1 publication

On the force capability of underactuated fingers

On the force capability of underactuated fingers

Grasp-state plane analysis of two-phalanx underactuated fingers

Design and Fuzzy Control of a Pneumatic Advanced Gripper

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