Design and control of five fingered under-actuated robotic hand

Eye–hand coordination (EHC) is of great importance in the research areas of human visual perception, computer vision and robotic vision. A computer-using robot (CUBot) is designed for investigating the EHC mechanism and its implementation is presented in this paper. The CUBot possesses the ability of operating a computer with a mouse like a human being. Based on the three phases of people using computer with a mouse, i.e. watching the screen, recognizing the graphical objects on the screen as well as controlling the mouse to let the cursor approach to the target, our CUBot can also perceive information merely through its vision and control the mouse by its robotic hand without any physical data communication connected to the operated computer. The CUBot is mainly composed of “Mouse-Hand” for operating the mouse, “mind” for realizing the object perception, cursor tracking, and EHC. Two experiments used for testing the ability of our EHC algorithm and the perception of CUBot confirm the feasibility of the proposed approach.

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Design and control of artificial robotic hand

2014 International Conference on Robotics and Emerging Allied Technologies in Engineering (iCREATE) ◽

10.1109/icreate.2014.6828330 ◽

2014 ◽

Cited By ~ 1

Author(s):

Ali Bin Junaid ◽

Muhammad Raheel Afzal ◽

Tahir Rasheed ◽

Sanan Tahir ◽

Sharjeel Ahmed ◽

...

Keyword(s):

Robotic Hand ◽

And Control

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Mechanical Design and Control Issues of a Dexterous Robotic Hand

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.463-464.1268 ◽

2012 ◽

Vol 463-464 ◽

pp. 1268-1271 ◽

Cited By ~ 2

Author(s):

Cosmin Berceanu ◽

Daniela Tarniţă

Keyword(s):

Development Process ◽

Mechanical Design ◽

Control Problems ◽

Robotic Hand ◽

Research Topics ◽

Precise Positioning ◽

Software And Hardware ◽

Active Research ◽

Artificial Hand ◽

And Control

The design and control problems involved in the development process of robotic grippers have been active research topics in the last three decades. In this paper it is presented a new developed dexterous robotic hand whose mechanical structure is based on a biomechatronic approach. The control system for this artificial hand relies on modern software and hardware components which allow precise positioning of the fingers.

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An Optimization Approach to Teleoperation of the Thumb of a Humanoid Robot Hand: Kinematic Mapping and Calibration

Journal of Mechanical Design ◽

10.1115/1.4027759 ◽

2014 ◽

Vol 136 (9) ◽

Cited By ~ 10

Author(s):

Lei Cui ◽

Ugo Cupcic ◽

Jian S. Dai

Keyword(s):

Input Device ◽

Human Hand ◽

Optimization Approach ◽

Robotic Hand ◽

Kinematic Structure ◽

Robotic Hands ◽

Data Glove ◽

Minimax Algorithms ◽

Kinematic Mapping ◽

And Control

The complex kinematic structure of a human thumb makes it difficult to capture and control the thumb motions. A further complication is that mapping the fingertip position alone leads to inadequate grasping postures for current robotic hands, many of which are equipped with tactile sensors on the volar side of the fingers. This paper aimed to use a data glove as the input device to teleoperate the thumb of a humanoid robotic hand. An experiment protocol was developed with only minimum hardware involved to compensate for the differences in kinematic structures between a robotic hand and a human hand. A nonlinear constrained-optimization formulation was proposed to map and calibrate the motion of a human thumb to that of a robotic thumb by minimizing the maximum errors (minimax algorithms) of fingertip position while subject to the constraint of the normals of the surfaces of the thumb and the index fingertips within a friction cone. The proposed approach could be extended to other teleoperation applications, where the master and slave devices differ in kinematic structure.

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Modelling, Simulation and Control of Robotic Hand using Virtual Prototyping Technology

International Journal of Recent Technology and Engineering - 2 ◽

10.35940/ijrte.e5081.019521 ◽

2021 ◽

Vol 9 (5) ◽

pp. 5-16

Author(s):

Ranashree Das ◽

Dhrubajyoti Gupta

Keyword(s):

Degrees Of Freedom ◽

Theoretical Calculations ◽

Virtual Prototyping ◽

Robotic Hand ◽

Body Parts ◽

Accurate Design ◽

Physical Prototype ◽

Kinematic Analyses ◽

Rotational Mechanics ◽

And Control

Hand is one of the most important body parts of a human being that exhibits extremely complex motional behaviors. So, accurate design of a prosthetic hand with precise motion has been a very challenging job for researchers over a few decades. Moreover, selection of materials, actuators, sensors, etc. becomes tedious which prior knowledge of the probable outcomes of a particular design. This paper presents an organized procedure to design and solve the kinematics, dynamics and trajectory control problem of a robotic hand. Denavit- Hartenberg method was used for the kinematic analyses and Lagrange-Euler formulation applied on basic rotational mechanics was used for the dynamic analyses of the robotic hand. To reduce difficulty, three degrees of freedom has been assigned to each finger. MATLAB codes were written to develop the mathematical model and carry out the theoretical calculations. The results so obtained were verified with the actual simulation results of the design which were obtained from ADAMS and hence validating the design. Finally, a PID controller was implemented using ADAMS-MATLAB CO-SIMULATATION technique, for controlling the hand, so as to achieve the desired motion. By the virtue of the results obtained the choice of materials, actuators, sensors, etc. becomes easier in case of the physical prototype which is the primal essence of virtual prototyping.

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Robotic hand design with linear actuators based on Toronto development

Athenea ◽

10.47460/athenea.v1i1.3 ◽

2020 ◽

Vol 1 (1) ◽

pp. 22-28

Author(s):

Oscar Vargas ◽

Omar Flor ◽

Carlos Toapanta

Keyword(s):

Degrees Of Freedom ◽

Biomedical Signal Processing ◽

Mode Switching ◽

Prosthetic Hand ◽

Robotic Hand ◽

Leap Motion ◽

International Conference ◽

Upper Limb Prostheses ◽

Linear Actuators ◽

And Control

In this work, the design of a robotic hand with 7 degrees of freedom is presented that allows greater flexibility, achieving the usual actions performed by a normal hand. The work consists of a prototype designed with linear actuators and myoelectric sensor, following the mechanism of the University of Toronto for the management of functional phalanges. The design, construction description, components and recommendations for the elaboration of a flexible and useful robotic hand for amputee patients with a residual limb for the socket are presented. Keywords: Robotic hand, Degree of freedom, Toronto´s Mechanism, lineal actuator. References [1]W. Diane, J. Braza and M. Yacub, Essentials of Physical Medicine and Rehabilitation, 4th ed. Philadelphia: Walter R. Frontera and Julie K. Silver and Thomas D. Rizzo, 2020, pp. 651 - 657. [2]A. Heerschop, C. Van Der Sluis, E. Otten, & R.M. Bongers, Looking beyond proportional control: The relevance of mode switching in learning to operate multi-articulating myoelectric upper-limb prostheses, . Biomedical Signal Processing and Control, 2020, doi:10.1016/j.bspc.2019.101647. [3]L. Heisnam, B. Suthar, 20 DOF robotic hand for tele-operation: — Design, simulation, control and accuracy test with leap motion. 2016 International Conference on Robotics and Automation for Humanitarian Applications (RAHA), 2016, doi:10.1109/raha.2016.7931886. [4]Y. Mishima, R. Ozawa, Design of a robotic finger using series gear chain mechanisms. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014, doi:10.1109/iros.2014.6942961. [5]N. Dechev, W. Cleghorn, S. Naumann, Multi-segmented finger design of an experimental prosthetic hand,Proceedings of the Sixth National Applied Mechanisms & Robotics Conference, december 1999. [6]O. Flor, “Building a mobile robot,” Education for the future. Accessed on: December 29, 2019. [Online] Available: https://omarflor2014.wixsite.com/misitio. [7]Vargas, O., Flor,O., Suarez, F., Design of a robotic prototype of the hand and right forearm for prostheses, Universidad, Ciencia y Tecnología, 2019. [8]O. Vargas, O. Flor, F. Suarez, C. Chimbo, Construction and functional tests of a robotic prototype for human prostheses, Revista espirales, 2020. [9]P. PonPriya, E. Priya, Design and control of prosthetic hand using myoelectric signal. International Conference on Computing and Communications Technologies (ICCCT), 2017, doi:10.1109/iccct2.2017.7972314. [10]N. Bajaj, A. Spiers, A. Dollar, State of the Art in Artificial Wrists: A Review of Prosthetic and Robotic Wrist Design. IEEE Transactions on Robotics, 2019, doi:10.1109/tro.2018.2865890.

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An Affordable Linkage-and-Tendon Hybrid-Driven Anthropomorphic Robotic Hand—MCR-Hand II

Journal of Mechanisms and Robotics ◽

10.1115/1.4049744 ◽

2021 ◽

Vol 13 (2) ◽

Author(s):

Haosen Yang ◽

Guowu Wei ◽

Lei Ren ◽

Zhihui Qian ◽

Kunyang Wang ◽

...

Keyword(s):

System Integration ◽

Mechanical Design ◽

Low Cost ◽

Score Test ◽

Human Hand ◽

Robotic Hand ◽

Level Control ◽

Robotic Hands ◽

Driven Systems ◽

And Control

Abstract This paper presents the design, analysis, and development of an anthropomorphic robotic hand coined MCR-hand II. This hand takes the advantages of both the tendon-driven and linkage-driven systems, leading to a compact mechanical structure that aims to imitate the mobility of a human hand. Based on the investigation of the human hand anatomical structure and the related existing robotic hands, mechanical design of the MCR-hand II is presented. Then, using D-H convention, kinematics of this hand is formulated and illustrated with numerical simulations. Furthermore, fingertip force is deduced and analyzed, and mechatronic system integration and control strategy are addressed. Subsequently, a prototype of the proposed robotic hand is developed, integrated with low-level control system, and following which empirical study is carried out, which demonstrates that the proposed hand is capable of implementing the grasp and manipulation of most of the objects used in daily life. In addition, the three widely used tools, i.e., the Kapandji score test, Cutkosky taxonomy, and Kamakura taxonomy, are used to evaluate the performance of the hand, which evidences that the MCR-hand II possesses high dexterity and excellent grasping capability; object manipulation performance is also demonstrated. This paper hence presents the design and development of a type of novel tendon–linkage-integrated anthropomorphic robotic hand, laying broader background for the development of low-cost robotic hands for both industrial and prosthetic use.

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On the design of robotic hands for brain–machine interface

Neurosurgical FOCUS ◽

10.3171/foc.2006.20.5.4 ◽

2006 ◽

Vol 20 (5) ◽

pp. 1-9 ◽

Cited By ~ 23

Author(s):

Yoky Matsuoka ◽

Pedram Afshar ◽

Michael Oh

Keyword(s):

Brain Machine Interface ◽

Human Hand ◽

Prosthetic Hand ◽

Robotic Hand ◽

Neural Signals ◽

Robotic Hands ◽

Intimate Contact ◽

Machine Interface ◽

Optimal Approach ◽

And Control

✓ Brain–machine interface (BMI) is the latest solution to a lack of control for paralyzed or prosthetic limbs. In this paper the authors focus on the design of anatomical robotic hands that use BMI as a critical intervention in restorative neurosurgery and they justify the requirement for lower-level neuromusculoskeletal details (relating to biomechanics, muscles, peripheral nerves, and some aspects of the spinal cord) in both mechanical and control systems. A person uses his or her hands for intimate contact and dexterous interactions with objects that require the user to control not only the finger endpoint locations but also the forces and the stiffness of the fingers. To recreate all of these human properties in a robotic hand, the most direct and perhaps the optimal approach is to duplicate the anatomical musculoskeletal structure. When a prosthetic hand is anatomically correct, the input to the device can come from the same neural signals that used to arrive at the muscles in the original hand. The more similar the mechanical structure of a prosthetic hand is to a human hand, the less learning time is required for the user to recreate dexterous behavior. In addition, removing some of the nonlinearity from the relationship between the cortical signals and the finger movements into the peripheral controls and hardware vastly simplifies the needed BMI algorithms. (Nonlinearity refers to a system of equations in which effects are not proportional to their causes. Such a system could be difficult or impossible to model.) Finally, if a prosthetic hand can be built so that it is anatomically correct, subcomponents could be integrated back into remaining portions of the user's hand at any transitional locations. In the near future, anatomically correct prosthetic hands could be used in restorative neurosurgery to satisfy the user's needs for both aesthetics and ease of control while also providing the highest possible degree of dexterity.

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