Spherical trigonometry constrained kinematics for a dexterous robotic hand with an articulated palm

Emmanouil, Evangelos; Wei, Guowu; Dai, Jian S.

doi:10.1017/s0263574715000399

Cited by 20 publications

(7 citation statements)

References 26 publications

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“…The direct replication of the human hand will only lead to a redundant system with low agility. Therefore, it is necessary to adopt an optimized and simplified design according to the requirements of the grasping and in-hand manipulations (Cui et al , 2014), achieving a wide range of grasp and manipulation tasks (Emmanouil et al , 2016). Robotic hands should be equipped with an accurate position and force controller, providing the fundamental frame for the high-level operation task.…”

Section: Design Methods Based On Gesture Primitivesmentioning

confidence: 99%

Novel design method for multi-configuration dexterous hand based on a gesture primitives analysis

Tao

Sheng

Chen

et al. 2021

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Purpose This paper aims to propose a novel method based on a gesture primitives analysis of human daily grasping tasks for designing dexterous hands with various grasping and in-hand manipulation abilities, which simplifies the complex and redundant humanoid five-finger hand system. Design/methodology/approach First, the authors developed the fingers and the joint configuration with a series of gesture primitives configurations and the modular virtual finger scheme, refined from the daily work gesture library by principal component analysis. Then, the authors optimized the joint degree-of-freedom configuration with the bionic design analysis of the anatomy, and the authors optimized the dexterity workspace. Furthermore, the adaptive fingertip and routing structure were designed based on the dexterous manipulation theory. Finally, the effectiveness of the design method was experimentally validated. Findings A novel lightweight three-finger and nine-degree-of-freedom dexterous hand with force/position perception was designed. The proposed routing structure was shown to have the capability of mapping the relationship between the joint space and actuator space. The adaptive fingertip with an embedded force sensor can effectively increase the robustness of the grasping operation. Moreover, the dexterous hand can grasp various objects in different configurations and perform in-hand manipulation dexterously. Originality/value The dexterous hand design developed in this study is less complex and performs better in dexterous manipulation than previous designs.

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Section: Design Methods Based On Gesture Primitivesmentioning

confidence: 99%

Novel design method for multi-configuration dexterous hand based on a gesture primitives analysis

Tao

Sheng

Chen

et al. 2021

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show abstract

“…[25], including the metamorphic robotic hand with increased degrees of freedom [26]- [29]. The recent robotic hands with elastic joints often used rubber-like materials or springs, which traded away high joint stiffness for enhancing hand dexterity [30], [31].…”

Section: A Biomechanical Advantagesmentioning

confidence: 99%

An Anthropomorphic Robotic Finger With Innate Human-Finger-Like Biomechanical Advantages Part II: Flexible Tendon Sheath and Grasping Demonstration

et al. 2023

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The human hand has a fantastic ability to interact with various objects in the dynamic unstructured environment of our daily activities. We believe that this outstanding performance benefits a lot from the unique biological features of the hand musculoskeletal system. In Part I of this paper, a bio-inspired anthropomorphic robotic finger was developed, based on which two human-finger-like biomechanical advantages were elaborately investigated, including the anisotropic variable stiffness associated with the ligamentous joints and the enlarged feasible force space associated with the reticular extensor mechanisms. In Part II, the fingertip force-velocity characteristics resulting from the flexible tendon sheath are studied. It indicates that the fingertip force-velocity workspace can be greatly augmented owing to the self-adaptive morphing of the flexible tendon sheaths, showing the average improvement of 41.2% theoretically and 117.5% experimentally compared with the results of 2 mm, 4 mm and 6 mm size rigid tendon sheaths. Grasping tests and comparisons are then conducted with four three-fingered robotic hands (one with the robotic finger proposed in Part I, one with hinge joints, one with linear extensors, and one with rigid tendon sheaths) and the human hands of six subjects to handle various objects on flat, rough and soft surfaces. The results show that the novel bio-inspired design in this research could improve the grasping success rates of the robotic hand. Compared with the grasping test results from the robotic hand with the bioinspired robotic finger proposed in Part I, the overall grasping performance of a robotic hand with hinge joints, linear extensors, and rigid tendon sheaths decreases by 10%, 6%, and 17%, respectively. The results have also shown that with the embedded biomechanical advantages, even without complex control and sensory systems, the robotic fingers can achieve very comparable performance to human fingers in the grasping demonstrations

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“…Robot kinematika adalah studi tentang analisis gerakan robot lengan terhadap sistem kerangka koordinat referensi yang diam terlepas dari gaya yang menyebabkan gerakan. Seperti penggunaan kinetik robot dengan model fuzzy [13] [16]. Jika ada manipulator dengan dua lengan dan terhubung dengan sendi putar seperti pada Gambar 2 berikut.…”

Section: A Kinematika Lengan Robotunclassified

Pemodelan Robot Kinematik Manipulator menggunakan MATLAB

Purwoto

2020

emitor

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Manipulator robot memiliki 4 DOF (Degree of Freedom), semua sambungan bersifat revolute serta dilengkapi dengan pointer di end-effector. Proyek ini bertujuan untuk menganalisis kinematika maju dan terbalik dari robot manipulator yang didesain dengan menggunakan SolidWorks untuk mendapatkan model 3-D dan menggunakan Sismscape Multibody Link generasi pertama untuk mengekspor CAD agar mendapatkan format file XML dan STL. Kemudian memersekusi file XML dengan Jendela perintah MATLAB untuk memperoleh diagram blok robot di Simulink. Mengembangkan GUI (Graphical User Interfaces) menggunakan Matlab untuk mengendalikan lengan dan menentukan kinematika maju dan terbalik. Pertama, membuat skema robot yang akan digambar dengan semua dimensi yang berlabel. Selanjutnya, tetapkan bingkai koordinat ke diagram robot sesuai dengan algoritme DH (Denavit-Hartenberg) dan kinematika maju lengkap akan dianalisis pada robot menggunakan persamaan Homogeneous Transformation Matrix yang memerlukan notasi. Hasil akhir dari Homogeneous Transformation Matrix akan menghasilkan orientasi dan posisi dari end-effector. Selain itu, analisis kinematika terbalik juga akan dilakukan pada dua titik yang diasumsikan, misalnya, mengangkat dan menempatkan dalam ruang kerja dengan menggunakan simulasi GUI sehingga akan diperoleh nilai sudut dari setiap joint.

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Spherical trigonometry constrained kinematics for a dexterous robotic hand with an articulated palm

Cited by 20 publications

References 26 publications

Novel design method for multi-configuration dexterous hand based on a gesture primitives analysis

Novel design method for multi-configuration dexterous hand based on a gesture primitives analysis

An Anthropomorphic Robotic Finger With Innate Human-Finger-Like Biomechanical Advantages Part II: Flexible Tendon Sheath and Grasping Demonstration

Pemodelan Robot Kinematik Manipulator menggunakan MATLAB

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