Using a motion capture system to identify pertinent design parameters of a bio-inspired mechanical hand

Rojas-Quintero, Juan Antonio; Seguin, Pascal; Gazeau, Jean Pierre; Arsicault, Marc

doi:10.1080/10255842.2013.815950

Cited by 3 publications

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References 3 publications

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“…However, the complex linkage mechanism and large quantity of parts are not conducive to installation and maintenance in the later stage; furthermore, the interphalangeal coupling ratio is fixed and unchanged. Quintero et al [ 12 ] captured and analyzed a tennis ball spinning on top of a flat surface by the subject’s right hand using a Vicon optical motion capture system, and they found that the human hand’s interphalangeal coupling ratio was changing dynamically rather than being fixed during the process. Therefore, making the robotic hand’s phalanges able to move independently or changing the coupling ratio dynamically can improve robotic hands’ dexterity and grasping mode diversity.…”

Section: Introductionmentioning

confidence: 99%

Design of a Multi-Mode Mechanical Finger Based on Linkage and Tendon Fusion Transmission

et al. 2023

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Today, most humanoid mechanical fingers use an underactuated mechanism driven by linkages or tendons, with only a single and fixed grasping trajectory. This paper proposes a new multi-mode humanoid finger mechanism based on linkage and tendon fusion transmission, which is embedded with an adjustable-length tendon mechanism to achieve three types of grasping mode. The structural parameters of the mechanism are optimized according to the kinematic and static models. Furthermore, a discussion was conducted on how to set the speed ratio of the linkage driving motor and the tendon driving motor to adjust the length and tension of the tendon, in order to achieve the switching of the shape-adaptive, coupled-adaptive, and variable coupling-adaptive grasping modes. Finally, the multi-mode functionality of the proposed finger mechanism was verified through multiple grasping experiments.

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Section: Introductionmentioning

confidence: 99%