UCAS-Hand: An Underactuated Powered Hand Exoskeleton for Assisting Grasping Task

Li, Houcheng; Cheng, Long; Li, Guotao

doi:10.1109/rcar52367.2021.9517383

Cited by 5 publications

(1 citation statement)

References 22 publications

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“…Kontoudiset al,2009 proposed that the actuation mechanism driven by tendon attains both flexion/extension movement and adduction/abduction movement on the finger's metatarsophalangeal joint using two numbers of motors [13].Li. etal.,2021 proposed a robotic hand named UCAS which is an Underactuated one and is of Powered Hand Exoskeleton used for grasp assistance [14]. Hong et al,2019 proposed KULEX-hand, an exoskeleton for grasping and providing powerful support for patients having a partway paralyzed hand or the elderly with weakened muscle strength [15].Liang etal.,2015 proposed a novel PASA Finger which has Parallel and Self-adaptive Fingers having less motors with grasping of Pinching and enveloping type [16].…”

Section: Introductionmentioning

confidence: 99%

Tendon Actuated Mechanism Based Robotic Prosthetic Hand Design for Dexterous Manipulation and Grasping

Biswal¹

2022

Journal of Pharmaceutical Negative Results

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In Robotic hand designit’sapronounced challenge to afford a robotic arrangement with dexterous aptitude and independent skilfulness particularly in the field of prosthesis, Industrial manufacturing, orthopaedic rehabilitation etc. Avery high diverse level of actuation and transmission scheme is requisite for a multi-fingered robotic hand to accomplish its manoeuvre. The under actuation concept become an encouraging way out to obtain robotic hands with high dexterity without additional complex mechanical design. The foremost feature of an under actuated robotic hand is that the total actuators required to function the hand is fewer than its movability or degree of freedom. The Under actuation decreases impressively the complication of the control system and is less expensive than the fully actuated equivalent hand. The hand is also lighter that it’s fully actuated equivalent. The current work proposed with the design and Kinetostatic analysis of a five-fingered robotic hand in which four under actuated fingers and an under actuated thumb with dexterity is present with a whole of twenty one Degrees of freedom and twelve numbers degree of actuation

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