The LMS hand: force and position controls in the aim of the fine manipulation of objects

Gazeau, Jean Pierre; Zehloul, S.; Arsicault, Marc; Lallemand, J.P.

doi:10.1109/robot.2001.933021

Cited by 37 publications

(26 citation statements)

References 7 publications

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“…By manually determining the contact point and mapping the position between the hand and the multi-fingered hand, the dexterous hand is used as the evaluation index of the dexterous hand to grasp the shape of the hand, and the optimal grasping performance is obtained. Liu Jie studied the dexterous hand grasp planning based on data glove, and classified the various crawl patterns with different classifiers, and carried out related virtual grasping experiments [15,16].…”

Section: Existing Grasp Planning Methodsmentioning

confidence: 99%

A Review of the Grasp Planning of Dexterous Hand

Cheng¹,

Sun²,

Hu³

2017

Proceedings of the 7th International Conference on Management, Education, Information and Control (MEICI 2017)

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Abstract. With the continuous development of bionic machinery, dexterous hand development is also rising. And dexterous hands to complete a similar operation of the staff must be carried out planning. Firstly, the grasping of dexterous hand is classified. Then, four grasping analysis indexes of force closure, dexterity, static balance and stability are put forward according to classification. In the light of these indexes, the existing grasping planning method is analyzed on the basis of these indexes. Finally, the existing problems of the grasp planning method and the countermeasures are put forward.

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Section: Existing Grasp Planning Methodsmentioning

confidence: 99%

A Review of the Grasp Planning of Dexterous Hand

Cheng¹,

Sun²,

Hu³

2017

Proceedings of the 7th International Conference on Management, Education, Information and Control (MEICI 2017)

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“…In traditional artificial hands, multiple degrees of freedoms (DOFs) of motion is obtained by using the several actuators which consequently the arm becomes too large and heavy weight and thus it will be a burden for users. One of the examples of such hand is the LMS Hand [24] as shown in Figure 2, with four fingers and sixteen DOFs. It can manipulate various objects with finger tips by using force and position controllers.…”

Section: Red Zone Studiesmentioning

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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“…Für diese Aufgaben wurden z.B. die DLR-Hand II (Abbildung 1.1 rechts) [22,23,24], die Robonaut-Hand der NASA [120], die DIST-Hand [15,25] und die LMS-Hand [60] entwickelt. Manche dieser Hände sind aus Gründen der Einfachheit nur teilanthropomorph ausgelegt und verzichten z.B.…”

Section: Teleoperationunclassified

“…Stark verbreitet sind Gleichstrommotoren, die entweder im Unterarm, in der Handfläche oder in den Fingern selbst untergebracht sind. Für die Kraftübertragung zu den Fingergelenken werden meist Seilzüge [60], Spindeltriebe [55,56], Zahnradgetriebe [112], Harmonic-Drive-Getriebe [22] oder Kombinationen derselben [23] verwendet.…”

Section: Aktorenunclassified

See 1 more Smart Citation

Ein Beitrag zur Integration von Sensoren in eine anthropomorphe künstliche Hand mit flexiblen Fluidaktoren

Martin¹

2005

At - Automatisierungstechnik

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The LMS hand: force and position controls in the aim of the fine manipulation of objects

Cited by 37 publications

References 7 publications

A Review of the Grasp Planning of Dexterous Hand

A Review of the Grasp Planning of Dexterous Hand

A Novel Approach for Classification of Underactuated Mechanism in Myoelectric Hand

Ein Beitrag zur Integration von Sensoren in eine anthropomorphe künstliche Hand mit flexiblen Fluidaktoren

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