Experiments of fine manipulation tasks with dexterous robotic hands

Meccanica ◽  
2015 ◽  
Vol 50 (11) ◽  
pp. 2767-2780 ◽  
Author(s):  
G. Palli ◽  
S. Pirozzi ◽  
C. Natale ◽  
G. De Maria ◽  
C. Melchiorri
Keyword(s):  
Robotic Hands ◽  
Fine Manipulation

scholarly journals The Role of Learning and Kinematic Features in Dexterous Manipulation: A Comparative Study with Two Robotic Hands

10.5772/56479 ◽  
2013 ◽  
Vol 10 (10) ◽  
pp. 340 ◽  
Author(s):  
Anna Lisa Ciancio ◽  
Loredana Zollo ◽  
Gianluca Baldassarre ◽  
Daniele Caligiore ◽  
Eugenio Guglielmelli
Keyword(s):  
Comparative Study ◽  
Robotic Hands ◽  
Dexterous Manipulation

EFFICIENT GRASP PLANNING WITH REACHABILITY ANALYSIS

2011 ◽  
Vol 08 (04) ◽  
pp. 761-775 ◽  
Author(s):  
ZHIXING XUE ◽  
RUEDIGER DILLMANN
Keyword(s):  
Efficient Algorithm ◽  
Reachability Analysis ◽  
Robotic Arm ◽  
Robotic Hands ◽  
Grasp Planning ◽  
Grasping Forces ◽  
Force Closure ◽  
Geometrical Information ◽  
Kinematic Information

Grasping can be seen as two steps: placing the hand at a grasping pose and closing the fingers. In this paper, we introduce an efficient algorithm for grasping pose generation. By the use of preshaping and eigen-grasping actions, the dimension of the space of possible hand configurations is reduced. The object to be grasped is decomposed into boxes of a discrete set of different sizes. By performing finger reachability analysis on the boxes, the kinematic feasibility of a grasp can be determined. If a reachable grasp is force-closure and can be performed by the robotic arm, its grasping forces are optimized and can be executed. The novelty of our algorithm is that it takes into account both the object geometrical information and the kinematic information of the hand to determine the grasping pose, so that a reachable grasping pose can be found very quickly. Real experiments with two different robotic hands show the efficiency and feasibility of our method.

scholarly journals Adaptive synergies: An approach to the design of under-actuated robotic hands

2012 ◽  
Author(s):  
Giorgio Grioli ◽  
Manuel Catalano ◽  
Emanuele Silvestro ◽  
Simone Tono ◽  
Antonio Bicchi
Keyword(s):  
Robotic Hands

scholarly journals Task-Oriented Algorithm for Two Human-Like Ambidextrous Robotic Hands Control

2017 ◽  
Vol 20 (1) ◽  
pp. 104 ◽  
Author(s):  
М А Al Akkad
Keyword(s):  
Robotic Hands ◽  
Task Oriented

Проведен анализ проблемно ориентированного захвата, учитывающий задачи сокращения сложности и достижения гибкого и стабильного захвата. Для регулировки положения манипулятора и объекта в процессе реализации алгоритма захвата используется вектор нормали, определяющий ориентацию руки. Для описания объекта используется представление переменной шириной пульса (ПШП), при этом значения углов ориентации трехмерной модели преобразуются в величины ширины пульса. Для выбора наиболее подходящего расположения и формы руки при захвате применяется циклический метод сопоставления объекта (ЦСО), использующий сплайны трехмерной модели объекта и алгоритм адаптации кривизны. Эксперименты показали, что анализ движений захвата возможен независимо от его силы; кроме того, следует принимать во внимание связь между суставами пальцев. Эксперименты также показали, что координация между двумя руками, основанная на методе, использующем угол наклона нормали, предлагает достаточно быстрое и точное решение для широкого спектра применений. Важным результатом исследования также является вывод соотношения точности захвата и угла ориентации и яркости объекта. Конечная цель исследования заключается в интеграции управления кистью и остальными частями руки как единым целым; предотвращении столкновений и достижении точной координации, позволяющей использовать роботизированные манипуляторы в любом приложении, где работа предполагает определенный ряд задач: спасательные работы, производство, медицинские операции и производство протезов.

scholarly journals Detachable Robotic Grippers for Human-Robot Collaboration

2021 ◽  
Vol 8 ◽  
Author(s):  
Zubair Iqbal ◽  
Maria Pozzi ◽  
Domenico Prattichizzo ◽  
Gionata Salvietti
Keyword(s):  
Degrees Of Freedom ◽  
Tactile Feedback ◽  
Industrial Robots ◽  
Physical Interaction ◽  
Robot Arm ◽  
Robotic Hands ◽  
End Effector ◽  
External Power ◽  
Self Powered ◽  
Automatic Tool

Collaborative robots promise to add flexibility to production cells thanks to the fact that they can work not only close to humans but also with humans. The possibility of a direct physical interaction between humans and robots allows to perform operations that were inconceivable with industrial robots. Collaborative soft grippers have been recently introduced to extend this possibility beyond the robot end-effector, making humans able to directly act on robotic hands. In this work, we propose to exploit collaborative grippers in a novel paradigm in which these devices can be easily attached and detached from the robot arm and used also independently from it. This is possible only with self-powered hands, that are still quite uncommon in the market. In the presented paradigm not only hands can be attached/detached to/from the robot end-effector as if they were simple tools, but they can also remain active and fully functional after detachment. This ensures all the advantages brought in by tool changers, that allow for quick and possibly automatic tool exchange at the robot end-effector, but also gives the possibility of using the hand capabilities and degrees of freedom without the need of an arm or of external power supplies. In this paper, the concept of detachable robotic grippers is introduced and demonstrated through two illustrative tasks conducted with a new tool changer designed for collaborative grippers. The novel tool changer embeds electromagnets that are used to add safety during attach/detach operations. The activation of the electromagnets is controlled through a wearable interface capable of providing tactile feedback. The usability of the system is confirmed by the evaluations of 12 users.

scholarly journals Molecular insertion regulates the donor-acceptor interactions in cocrystals for the design of piezochromic luminescent materials

2021 ◽  
Author(s):  
Chunguang Zhai ◽  
Xiu Yin ◽  
Shifeng Niu ◽  
Mingguang Yao ◽  
Shuhe Hu ◽  
...  
Keyword(s):  
Intermolecular Interactions ◽  
Luminescent Properties ◽  
Blue Shift ◽  
Luminescent Materials ◽  
Conformation Change ◽  
Emission Enhancement ◽  
Donor Acceptor ◽  
Fine Manipulation

Abstract Developing a universal strategy to design new piezochromic luminescent materials with desirable properties remains challenging. Here, we report that insertion of a non-emissive molecule into a donor (perylene) and acceptor (TCNB) binary cocrystal can realize fine manipulation of intermolecular interactions between perylene and TCNB for desirable piezochromic luminescent properties. A continuous pressure-induced emission enhancement up to 3 GPa and a blue shift from 655 nm to 619 nm have been observed in perylene-TCNB cocrystals upon THF insertion, in contrast to the red-shifted and quenched emission observed when compressing perylene-TCNB cocrystals and other cocrystals reported earlier. By combining experiment with theory, it is further revealed that the inserted non-emissive THF forms blue-shifted H-bonds with neighboring TCNB molecules and promote a conformation change of perylene molecules upon compression, causing the blue-shifted and enhanced emission. This strategy remains valid when inserting other molecules as non-emissive component into perylene-TCNB cocrystals for abnormal piezochromic luminescent behaviors. Our strategy could also be extended to other cocrystals with different donor-acceptor components, opening a new way for designing novel piezochromic luminescent materials for future applications.

Design and Analysis of a Tendon-Driven, Under-Actuated Robotic Hand

2014 ◽  
Author(s):  
Raymond Guo ◽  
Vienny Nguyen ◽  
Lei Niu ◽  
Lyndon Bridgwater
Keyword(s):  
Design Parameters ◽  
Robotic Hand ◽  
Robotic Hands ◽  
Mechanical Adaptation ◽  
Lagrange Formulation ◽  
Hand Grasp ◽  
Design Case ◽  
Design Case Study ◽  
General Dynamic

There has been continuous research and development to add more actuators into robotic hands to increase their dexterity. However, dexterous hands require complex control and are more costly to build. Therefore, many researchers and commercial enterprises have begun developing under-actuated robotic hands with fewer actuators and passive mechanical adaptation to not only reduce complexity and cost, but to also achieve better grasp performance in unstructured settings. This paper presents the design and analysis of the Valkyrie hand — a four fingered, tendon-driven, and under-actuated robotic hand that balances dexterity and simplicity with total 14 joints, and six degrees of actuated freedom. A derivation is provided of general dynamic and static equations for the analysis of a tendon driven mechanism, based on Euler-Lagrange formulation. The equations were used to evaluate the design parameters’ impact on the hand grasp shape and closing effort, and also validated against a design case study.

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