A Dexterous and Self-adaptive Humanoid Robot Hand: Gesture-Changeable Under-Actuated Hand

2009 ◽  
pp. 515-525 ◽  
Author(s):  
Wenzeng Zhang ◽  
Demeng Che ◽  
Qiang Chen ◽  
Dong Du
Keyword(s):  
Humanoid Robot ◽  
Hand Gesture ◽  
Robot Hand ◽  
Self Adaptive

A DEXTEROUS AND SELF-ADAPTIVE HUMANOID ROBOT HAND: GCUA HAND

2011 ◽  
Vol 08 (01) ◽  
pp. 73-86 ◽  
Author(s):  
DEMENG CHE ◽  
WENZENG ZHANG
Keyword(s):  
Humanoid Robot ◽  
Experimental Results ◽  
Robot Hand ◽  
Robotic Hands ◽  
Self Adaptive

Gesture-changeable under-actuated (GCUA) function is put forward to make traditional under-actuated hands feel easy to grasp different objects and do simple operations dexterously, simultaneously, this function can lower control difficulties of robotic hands. Based on GCUA function, a GCUA hand based on pulley-belt mechanism is designed in detail and manufactured. The Hand can grasp different objects self-adaptively and change its initial gesture dexterously before touching objects. The hand has 5 fingers and 15 DOFs, each finger utilizes screw-nut transmission, flexible drawstring constraint and belt-pulley under-actuated mechanism to realize GCUA function. The analyses on grasping static forces and grasping stabilities are given. The analyses and experimental results show that GCUA function is very nice and valid. The hands with GCUA function can meet the requirements of grasping and operating with lower control and cost, which is the middle road between traditional under-actuated hands and dexterous hands.

Haptic Teleoperation of Humanoid Robot Hand Using Three-Dimensional Force Feedback

2009 ◽  
Vol 42 (16) ◽  
pp. 431-436 ◽  
Author(s):  
Mai Mishima ◽  
Haruhisa Kawasaki ◽  
Tetsuya Mouri ◽  
Takahiro Endo
Keyword(s):  
Humanoid Robot ◽  
Force Feedback ◽  
Three Dimensional ◽  
Robot Hand

DESIGN AND REALIZATION OF HUMANOID ROBOT HAND

2005 ◽  
Vol 41 (05) ◽  
pp. 123 ◽  
Author(s):  
Wenzeng Zhang
Keyword(s):  
Humanoid Robot ◽  
Robot Hand

Perceptions of Quantitative and Affective Meaning from Humanoid Robot Hand Gestures

2021 ◽  
pp. 386-396
Author(s):  
Timothy Bickmore ◽  
Prasanth Murali ◽  
Yunus Terzioglu ◽  
Shuo Zhou
Keyword(s):  
Humanoid Robot ◽  
Robot Hand ◽  
Hand Gestures ◽  
Affective Meaning

CTSA hand: A novel cluster-tube self-adaptive robot hand

2017 ◽  
Author(s):  
Hong Fu ◽  
Haokun Yang ◽  
Weishu Song ◽  
Wenzeng Zhang
Keyword(s):  
Robot Hand ◽  
Self Adaptive
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