Underactuated Robotic Hands

Birglen, Lionel; Laliberté, Thierry; Gosselin, Clément

doi:10.1007/978-3-540-77459-4

Cited by 401 publications

(290 citation statements)

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“…This point has been termed an "equilibrium point" in prior work [2], [22], [1]. In the context of the studying a mechanism's compliance, we term this point a "zerocompliance point" instead and use the same terminology in the rest of the paper.…”

Section: A Compliance Of a Double-acting Mechanismmentioning

confidence: 97%

“…These hands exploit clever transmission mechanisms that couple the motion of multiple joints to an actuator while allowing the hands to naturally adapt to the external environment without any sensing. While the motion of these hands when actuated internally has been studied in prior work [2], [11], [9], [21], [23], the compliance exhibited by these hands in the presence of external disturbances is still not well understood. This paper investigates the variation in compliance of an underactuated mechanism as This work was supported in part by the National Science Foundation grant IIS-0953856.…”

Section: Introductionmentioning

confidence: 99%

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Variation in compliance in two classes of two-link underactuated mechanisms

Balasubramanian

Dollar

2011

2011 IEEE International Conference on Robotics and Automation

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The compliance of an underactuated robotic hand, or a robotic hand with fewer actuators than degrees of freedom, is a function of the mechanism type, the design parameters, and the operational control mode. The transmissions used in underactuated mechanisms can be divided into two main classes based on the selfadaptive transmission used to route actuation to the various degrees of freedom, namely the single-acting transmission and the double-acting transmission. While both transmission classes can be represented using a kinematic constraint equation that defines the relationship between actuator and joint motion, the main difference between the two transmission classes is that the kinematic constraint is always active in double-acting mechanisms while there are specific combinations of external disturbances and mechanism parmeters that render the constraint inactive in single-acting mechanisms. While previous studies have only explored the performance of underactuated mechanisms with the constraint always active, this paper identifies the benefits for robotic grasping (such as better disturbance rejection) that arise when the constraint becomes inactive in single-acting mechanisms.

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Section: A Compliance Of a Double-acting Mechanismmentioning

confidence: 97%

Section: Introductionmentioning

confidence: 99%

Variation in compliance in two classes of two-link underactuated mechanisms

Balasubramanian

Dollar

2011

2011 IEEE International Conference on Robotics and Automation

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“…4b shows a series of grasps which kinematically solve for contact on a circlular object at different distances from the palm. Solving for static equilibrium when grasping with an underactuated finger is not straightforward, however, because positive normal forces cannot be guaranteed in all configurations [5]. When a negative normal force is encountered in a particular contact, this corresponds to the associated phalanx losing contact.…”

Section: B Equilibrium In Underactuated Fingersmentioning

confidence: 99%

“…Recent research has examined actuator control and placement in underactuated mechanisms [2] [3]. Work has also addressed transmission design and analysis [4] [5] and methods to allow some manipulation in an underactuated compliant design [6]. Other work has focused on adding small secondary motors to change the type of grasping and to expand the range of graspable objects [7].…”

Section: Introductionmentioning

confidence: 99%

Selectively compliant underactuated hand for mobile manipulation

Aukes

Kim

García

et al. 2012

2012 IEEE International Conference on Robotics and Automation

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The demands of mobile manipulation are leading to a new class of multi-fingered hands with a premium on being lightweight and robust as well as being able to grasp and perform basic manipulations with a wide range of objects. A promising approach to addressing these goals is to use compliant, underactuated hands with selectively lockable degrees of freedom. This paper presents the design of one such hand that combines series-elastic actuation and electrostatic braking at the joints. A numerical analysis shows how the maximum pullout force varies as a function of kinematic parameters, spring forces at the joints and brake torques.

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“…A number of simplified hands have been developed, many of which are underactuated to provide passive adaptability and, in turn, a larger range of grasp configurations per actuator (e.g. [9][10][11][12]). The design of prosthetic hands comes with additional challenges related to the limited amount of space and weight that can be implemented, particularly in light of the fact that amputations can be performed at various points on the limb, limiting most devices to the space distal to the wrist (e.g.…”

Section: Introductionmentioning

confidence: 99%

An investigation of grasp type and frequency in daily household and machine shop tasks

Zheng

Rosa

Dollar

2011

2011 IEEE International Conference on Robotics and Automation

129

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This paper presents a study on the usage frequency of different grasp types throughout the daily functions of a professional house maid and a machinist. Subjects wore a head-mounted camera that recorded their hand usage during their daily work activities. This video was then analyzed, recording grasp type and associated time stamps, as well as information related to the task and object. The results show that nearly 80% of the time the house maid used just six grasps and the machinist used nine. This data, in conjunction with established grasp taxonomies, will enable a better understanding of how people utilize different grasps to accomplish tasks throughout the day, as well as inform the design of robotic and prosthetic hands.

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Underactuated Robotic Hands

Cited by 401 publications

References 0 publications

Variation in compliance in two classes of two-link underactuated mechanisms

Variation in compliance in two classes of two-link underactuated mechanisms

Selectively compliant underactuated hand for mobile manipulation

An investigation of grasp type and frequency in daily household and machine shop tasks

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