Simulation and design of underactuated mechanical hands

Laliberté, Thierry; Gosselin, Clément

doi:10.1016/s0094-114x(97)00020-7

Cited by 233 publications

(102 citation statements)

References 8 publications

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“…underactuated, mechanisms. These prototypes are usually either driven by tendons (Hirose and Umetani, 1978;Crisman et al, 1996;Massa et al, 2002;Higashimori et al, 2005a) or by linkages (Bekey et al, 1999;Ulrich, 1988;Laliberté and Gosselin, 1998;Kennedy, 2001; Correspondence to: L. Birglen (lionel.birglen@polymtl.ca) 2006b). This approach leads to the automatic/mechanical adaptation of the robotic finger to the shape of the object seized.…”

Section: Self-adaptive Fingersmentioning

confidence: 99%

The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers

Birglen

2011

Mech. Sci.

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Abstract. In this paper, the issue of the kinematic -as opposed to dynamic -preshaping of self-adaptive robotic fingers driven by linkages is discussed. A method to obtain designs of these fingers capable of various behaviours during their closing motions is presented. The method is based on using triggered passive elements in carefully selected joints of the finger and the selection or optimization of geometric parameters to obtain particular kinematic relationships between the motions of the phalanges. This method is very general and can be applied to any self-adaptive robotic finger in order to obtain many different types of closing motions. Examples given in this paper are focusing on two different preshaping motions, the first one aims at allowing pinch grasps while the second mimics a human finger. The fundamental aim of this paper is to show that various preshapings of self-adaptive fingers are possible, not just one, and to give two step-by-step examples.

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Section: Self-adaptive Fingersmentioning

confidence: 99%

The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers

Birglen

2011

Mech. Sci.

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“…The number of actuators can be reduced by using the principle of underactuation. An underactuated mechanism has, by definition, more degrees of freedom than actuators [6][7]. The configuration of such a mechanism depends not only on the actuator force but also on the external forces acting on the mechanism, e.g., the force acting on the fingers.…”

Section: Introductionmentioning

confidence: 99%

Design and evaluation of two different finger concepts for body-powered prosthetic hand

2013

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Abstract-The goal of this study was to find an efficient method of energy transmission for application in an anthropomorphic underactuated body-powered (BP) prosthetic hand. A pulley-cable finger and a hydraulic cylinder finger were designed and tested to compare the pulley-cable transmission principle with the hydraulic cylinder transmission principle. Both fingers had identical dimensions and a low mass. The only thing that differed between the fingers was the transmission principle. The input energy was measured for a number of tasks. The pulley-cable finger required more input energy than the hydraulic cylinder finger to perform the tasks. This was especially the case in tasks that required high pinch forces. The hydraulic cylinder transmission is therefore the more efficient transmission for application in BP prosthetic fingers.

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“…Differential, Compliant, Triggered and Passive Mechanism. In underactuated mechanism, principle of actuation [16] is used to reduce the control complexity and to imitate grasping behavior of human hand. Challenges towards the development of a real underactuated myoelectric hand includes: the use of neural control signals together with the extraction of intent, the simple mechatronic implementation [17] having less number of actuators than the degree of freedoms, better functionality, light weight and cosmetic appearance to increase the personification of the hand.…”

Section: Introductionmentioning

confidence: 99%

A Novel Approach for Classification of Underactuated Mechanism in Myoelectric Hand

Mariappan¹,

Jan²,

Iftikhar³

2012

AJBE

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Concept of underactuation makes it possible to create such robotic hands that automatically adapt to the shape of the grasped object without using a complex control system or a large number of actuators. In underactuated hand prostheses, depending upon control strategy used, one can get more and more degree of freedoms (DOFs) to make its prosthetic device more versatile and easy to control. In spite of all the great work done by the researchers on underactuated prosthetic hands, no one has given any relationship between the number of motors (or actuators) and the number of degree of freedoms (DOFs). This novel concept named as "Coefficient of UAM" (CoUAM) is "the ratio between numbers of motors to the number of DOFs". By reviewing various known studies, CoUAM of randomly selected prosthetic hands is calculated separately and analyzed merits/demerits, cost, weight, appearance, ease of controllability and their functionality to make this approach more objective and useful for the future researchers. Hence target of this paper is to assess a Coefficient of UAM (CoUAM) of different types of prostheses available and then classify them into red, green and yellow zones.

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Simulation and design of underactuated mechanical hands

Cited by 233 publications

References 8 publications

The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers

The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers

Design and evaluation of two different finger concepts for body-powered prosthetic hand

A Novel Approach for Classification of Underactuated Mechanism in Myoelectric Hand

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