Semi-anthropomorphic 3D printed multigrasp hand for industrial and service robots

Kappassov, Zhanat; Khassanov, Yerbolat; Saudabayev, Artur; Shintemirov, Almas; Varol, Hüseyin Atakan

doi:10.1109/icma.2013.6618171

Cited by 36 publications

(27 citation statements)

References 7 publications

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“…[54]. However, tactile data gloves could be worn on robot hands, Figure 12: Difference in contact surfaces between a human finger and a robot finger [105]. Figure 13: Tactile data glove based on conductive rubber (a) and the tactile information from the data glove during a grasp (b) [54].…”

Section: Integration Stepsmentioning

confidence: 98%

Tactile sensing in dexterous robot hands — Review

Kappassov¹,

Ramón²,

Perdereau³

2015

Robotics and Autonomous Systems

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358

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Section: Integration Stepsmentioning

confidence: 98%

Tactile sensing in dexterous robot hands — Review

Kappassov¹,

Ramón²,

Perdereau³

2015

Robotics and Autonomous Systems

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633

358

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“…Physically these vision systems were installed external to their end-effectors due to the size. This, however, is subject to change [178,179] due to the developments in various range imaging techniques, which result in more compact depth sensors.…”

Section: Hand Sensors Developmentmentioning

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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“…To address such problems 3D printing rapid prototyping technology is actively applied for manufacturing of low-cost robotic hands [13], [14]. Aiming to provide a basic robotic platform with minimal number of 3D printed components and off-the-shelf actuator for facilitating robotic research efforts, a 3D printed open source tendon driven hand is proposed in [12].…”

Section: Introductionmentioning

confidence: 99%

An open-source 3D printed underactuated robotic gripper

Tlegenov

Telegenov

Shintemirov

2014

2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA)

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In this paper authors present an open source lowcost basic robotic end effector platform for facilitating research on robotic grasping. The 3D design model of a three fingered underactuated robotic gripper is presented and manufactured with minimal number of 3D printed components and an off-theshelf servomotor actuator. An underactuated finger, gear train mechanisms and an overall gripper assembly design are described in details followed by illustration and discussion of grasping of objects with various geometries. The presented open source gripper design will be released for downloading on the authors' research lab web-site www.alaris.kz and can be useful for robotic researchers as a platform to build their own robotic end effector solutions for research and educational purposes.

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Semi-anthropomorphic 3D printed multigrasp hand for industrial and service robots

Cited by 36 publications

References 7 publications

Tactile sensing in dexterous robot hands — Review

Tactile sensing in dexterous robot hands — Review

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

An open-source 3D printed underactuated robotic gripper

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