A Fully 3D‐Printed Wearable Piezoresistive Strain and Tactile Sensing Array for Robot Hand

2021 ◽  
pp. 2100038
Author(s):  
Zhen Pei ◽  
Qiang Zhang ◽  
Kun Yang ◽  
Zhongyun Yuan ◽  
Wendong Zhang ◽  
...  
Keyword(s):  
Tactile Sensing ◽  
Robot Hand ◽  
3D Printed

scholarly journals Tactile Model O: Fabrication and Testing of a 3D-Printed, Three-Fingered Tactile Robot Hand

Soft Robotics ◽  
2020 ◽  
Author(s):  
Jasper W. James ◽  
Alex Church ◽  
Luke Cramphorn ◽  
Nathan F. Lepora
Keyword(s):  
Robot Hand ◽  
3D Printed

A 3D-printed Robot Hand with Three Linkage-driven Underactuated Fingers

2018 ◽  
Vol 15 (5) ◽  
pp. 593-602 ◽  
Author(s):  
Xia-Li Li ◽  
Li-Cheng Wu ◽  
Tian-Yi Lan
Keyword(s):  
Robot Hand ◽  
3D Printed

Soft, flexible 3D printed fibers for capacitive tactile sensing

2016 ◽  
Author(s):  
Ashish Kapoor ◽  
Michael McKnight ◽  
Kony Chatterjee ◽  
Talha Agcayazi ◽  
Hannah Kausche ◽  
...  
Keyword(s):  
Tactile Sensing ◽  
3D Printed

A Shape Description Model by Using Sensor Data From Touch

2003 ◽  
Author(s):  
Venturia Chiroiu ◽  
Ligia Munteanu ◽  
Cornel Mihai Nicolescu
Keyword(s):  
Sensor Data ◽  
Tactile Sensing ◽  
Shape Description ◽  
Robot Hand ◽  
3D Object ◽  
Contact Points ◽  
Data Points ◽  
Dexterous Robot Hand

In this paper we consider the problem of recognizing the shape of a 3D object using tactile sensing by a dexterous robot hand. Our approach uses multiple fingers to slide along the surface of the object. From the sensing contact points we extracts a number of 3D points belonging to the surface of the object. The unknown surface Γ of the object is determined by using an “n-ellipsoid” model (Bonnet [1]). The set of parameters that define the surface Γ is determined such that the n-ellipsoid best fits the set of data points.

scholarly journals 3D Printed Robot Hand Structure Using Four-Bar Linkage Mechanism for Prosthetic Application

Sensors ◽  
2020 ◽  
Vol 20 (15) ◽  
pp. 4174 ◽  
Author(s):  
Mohamad Aizat Abdul Wahit ◽  
Siti Anom Ahmad ◽  
Mohammad Hamiruce Marhaban ◽  
Chikamune Wada ◽  
Lila Iznita Izhar
Keyword(s):  
Load Test ◽  
Human Hand ◽  
Robot Hand ◽  
Linkage Mechanism ◽  
Design Problems ◽  
Joint Protection ◽  
Structural Details ◽  
Motion Range ◽  
3D Printed ◽  
Four Bar Linkage

Trans-radial prosthesis is a wearable device that intends to help amputees under the elbow to replace the function of the missing anatomical segment that resembles an actual human hand. However, there are some challenging aspects faced mainly on the robot hand structural design itself. Improvements are needed as this is closely related to structure efficiency. This paper proposes a robot hand structure with improved features (four-bar linkage mechanism) to overcome the deficiency of using the cable-driven actuated mechanism that leads to less structure durability and inaccurate motion range. Our proposed robot hand structure also took into account the existing design problems such as bulky structure, unindividual actuated finger, incomplete fingers and a lack of finger joints compared to the actual finger in its design. This paper presents the improvements achieved by applying the proposed design such as the use of a four-bar linkage mechanism instead of using the cable-driven mechanism, the size of an average human hand, five-fingers with completed joints where each finger is moved by motor individually, joint protection using a mechanical stopper, detachable finger structure from the palm frame, a structure that has sufficient durability for everyday use and an easy to fabricate structure using 3D printing technology. The four-bar linkage mechanism is the use of the solid linkage that connects the actuator with the structure to allow the structure to move. The durability was investigated using static analysis simulation. The structural details and simulation results were validated through motion capture analysis and load test. The motion analyses towards the 3D printed robot structure show 70–98% similar motion range capability to the designed structure in the CAD software, and it can withstand up to 1.6 kg load in the simulation and the real test. The improved robot hand structure with optimum durability for prosthetic uses was successfully developed.

scholarly journals Development of Real-Time Electromyography Controlled 3D Printed Robot Hand Prototype

2019 ◽  
Vol 10 (1) ◽  
pp. 35-44
Author(s):  
Mohamad Aizat Abdul Wahit ◽  
Fatimahtul Zahrah Romzi ◽  
Siti Anom Ahmad ◽  
Mohd Hamiruce Marhaban ◽  
Wada Chikamune
Keyword(s):  
Structural Design ◽  
Control Method ◽  
Muscular Activity ◽  
Movement Control ◽  
Research Field ◽  
Human Hand ◽  
Robotic Hand ◽  
Robot Hand ◽  
3D Printed ◽  
Average Size

Developing an anthropomorphic robotic hand (ARH) has become a relevant research field due to the need to help the amputees live their life as normal people. However, the current state of research is unsatisfactory, especially in terms of structural design and the robot control method. This paper, which proposes a 3D printed ARH structure that follows the average size of an adult human hand, consists of five fingers with a tendon-driven actuator mechanism embedded in each finger structure. Besides that, the movement capability of the developed 3D printed robot hand validated by using motion capture analysis to ensure the similarity to the expected motion range in structural design is achieved. Its system functionality test was conducted in three stages: (1) muscular activity detection, (2) object detection for individual finger movement control, and (3) integration of both stages in one algorithm. Finally, an ARH was developed, which resembles human hand features, as well as a reliable system that can perform opened hand palm and some grasping postures for daily use.

Directly 3D-printed monolithic soft robotic gripper with liquid metal microchannels for tactile sensing

2019 ◽  
Vol 4 (3) ◽  
pp. 035001 ◽  
Author(s):  
Filippo Spina ◽  
Arash Pouryazdan ◽  
Júlio C Costa ◽  
Luis Ponce Cuspinera ◽  
Niko Münzenrieder
Keyword(s):  
Liquid Metal ◽  
Tactile Sensing ◽  
3D Printed
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