Robotic Hands

Ormaechea, Ramiro Cabás

doi:10.1007/978-0-85729-588-0_2

Cited by 2 publications

(1 citation statement)

References 16 publications

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“…In any of these research areas, the robotic system must fulfill a series of tasks which implies object manipulation and transportation, or using equipment and tools. From here arises the necessity of development grasping systems [6] to reproduce, as well as possible human hand motion [7][8][9].…”

Section: Introductionmentioning

confidence: 99%

DSmT Decision-Making Algorithms for Finding Grasping Configurations of Robot Dexterous Hands

2018

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In this paper, we present a deciding technique for robotic dexterous hand configurations. This algorithm can be used to decide on how to configure a robotic hand so it can grasp objects in different scenarios. Receiving as input, several sensor signals that provide information on the object's shape, the DSmT decision-making algorithm passes the information through several steps before deciding what hand configuration should be used for a certain object and task. The proposed decision-making method for real time control will decrease the feedback time between the command and grasped object, and can be successfully applied on robot dexterous hands. For this, we have used the Dezert-Smarandache theory which can provide information even on contradictory or uncertain systems.

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Section: Introductionmentioning

confidence: 99%

DSmT Decision-Making Algorithms for Finding Grasping Configurations of Robot Dexterous Hands

2018

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Sensorless In-Hand Manipulation by An Underactuated Robot Hand

Ospina

Ramírez-Serrano

2020

Journal of Mechanisms and Robotics

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The limited dexterity that existing hand prostheses provide to users contrasts with the manipulation abilities exhibited by state-of-the-art robot hands. This paper presents an underactuated robot hand with in-hand manipulation capabilities to demonstrate the use of underactuation in the development of effective hand replacements. This paper describes a specific underactuated hand architecture, representative of many existing underactuated hand prototypes. First, the hand is modeled and its ability to manipulate objects of different geometries is analyzed. Second, a manipulation strategy suitable for prosthetic applications is proposed. The strategy enables the hand to manipulate objects in-hand without any a priori information of their geometry or physical properties. Finally, experimental tests conducted to validate the theoretical results are presented.

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Robotic Hands

Cited by 2 publications

References 16 publications

DSmT Decision-Making Algorithms for Finding Grasping Configurations of Robot Dexterous Hands

DSmT Decision-Making Algorithms for Finding Grasping Configurations of Robot Dexterous Hands

Sensorless In-Hand Manipulation by An Underactuated Robot Hand

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