Linkage under-actuated humanoid robotic hand with control of grasping force

2010 ◽  
Author(s):  
Wenzeng Zhang ◽  
Deyang Zhao ◽  
Qiang Chen ◽  
Dong Du
Keyword(s):  
Robotic Hand ◽  
Grasping Force

Microgripper-Embedded Fluid Fingertip-Enhancing Positioning and Holding Abilities for Versatile Grasping

2017 ◽  
Vol 9 (6) ◽  
Author(s):  
Toshihiro Nishimura ◽  
Yoshinori Fujihira ◽  
Tetsuyou Watanabe
Keyword(s):  
Position Control ◽  
Layer Structure ◽  
Outer Part ◽  
Robotic Hand ◽  
Mechanical Constraints ◽  
Grasping Forces ◽  
Geometrical Constraints ◽  
Grasping Force ◽  
Object Shapes ◽  
Contact Position

This paper presents a novel fingertip system with a two-layer structure for robotic hands. The outer part of the structure consists of a rubber bag filled with fluid, called the “fluid fingertip,” while the inner part consists of a rigid link mechanism called a “microgripper.” The fingertip thus is a rigid/fluid hybrid system. The fluid fingertip is effective for grasping delicate objects, that is, it can decrease the impulsive force upon contact, and absorb uncertainties in object shapes and contact force. However, it can only apply a small grasping force such that holding a heavy object with a robotic hand with fluid fingertips is difficult. Additionally, contact uncertainties including inaccuracies in the contact position control cannot be avoided. In contrast, rigid fingertips can apply considerable grasping forces and thus grasp heavy objects effectively, although this makes delicate grasping difficult. To maintain the benefits of the fluid fingertip while overcoming its disadvantages, the present study examines passively operable microgripper-embedded fluid fingertips. Our goal is to use the gripper to enhance the positioning accuracy and increase the grasping force by adding geometrical constraints to the existing mechanical constraints. Grasping tests showed that the gripper with the developed fingertips can grasp a wide variety of objects, both fragile and heavy.

scholarly journals Survey on Main Drive Methods Used in Humanoid Robotic Upper Limbs

2021 ◽  
Vol 2021 ◽  
pp. 1-12
Author(s):  
Yiwei Wang ◽  
Wenyang Li ◽  
Shunta Togo ◽  
Hiroshi Yokoi ◽  
Yinlai Jiang
Keyword(s):  
Upper Limb ◽  
Structural Features ◽  
Drive System ◽  
Robotic Hand ◽  
Light Weight ◽  
Upper Limbs ◽  
Factors Affecting ◽  
Advantages And Disadvantages ◽  
Grasping Force ◽  
Tendon Drive

Humanoid robotic upper limbs including the robotic hand and robotic arm are widely studied as the important parts of a humanoid robot. A robotic upper limb with light weight and high output can perform more tasks. The drive system is one of the main factors affecting the weight and output of the robotic upper limb, and therefore, the main purpose of this study is to compare and analyze the effects of the different drive methods on the overall structure. In this paper, we first introduce the advantages and disadvantages of the main drive methods such as tendon, gear, link, fluid (hydraulic and pneumatic), belt, chain, and screw drives. The design of the drive system is an essential factor to allow the humanoid robotic upper limb to exhibit the structural features and functions of the human upper limb. Therefore, the specific applications of each drive method on the humanoid robotic limbs are illustrated and briefly analyzed. Meanwhile, we compared the differences in the weight and payload (or grasping force) of the robotic hands and robotic arms with different drive methods. The results showed that the tendon drive system is easier to achieve light weight due to its simple structure, while the gear drive system can achieve a larger torque ratio, which results in a larger output torque. Further, the weight of the actuator accounts for a larger proportion of the total weight, and a reasonable external placement of the actuator is also beneficial to achieve light weight.

scholarly journals Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter

Sensors ◽  
2018 ◽  
Vol 18 (2) ◽  
pp. 326 ◽  
Author(s):  
Nobutomo Morita ◽  
Hirofumi Nogami ◽  
Eiji Higurashi ◽  
Renshi Sawada
Keyword(s):  
Force Control ◽  
Laser Doppler ◽  
Laser Doppler Velocimeter ◽  
Robotic Hand ◽  
Grasping Force ◽  
Slip Detection

scholarly journals Integrated linkage-driven dexterous anthropomorphic robotic hand

2021 ◽  
Vol 12 (1) ◽  
Author(s):  
Uikyum Kim ◽  
Dawoon Jung ◽  
Heeyoen Jeong ◽  
Jongwoo Park ◽  
Hyun-Mok Jung ◽  
...  
Keyword(s):  
Everyday Life ◽  
Tactile Sensing ◽  
Robotic Hand ◽  
Robot Arm ◽  
Robotic Hands ◽  
Robotic Arms ◽  
Low Weight ◽  
Compact Size ◽  
Grasping Force ◽  
High Flexibility

AbstractRobotic hands perform several amazing functions similar to the human hands, thereby offering high flexibility in terms of the tasks performed. However, developing integrated hands without additional actuation parts while maintaining important functions such as human-level dexterity and grasping force is challenging. The actuation parts make it difficult to integrate these hands into existing robotic arms, thus limiting their applicability. Based on a linkage-driven mechanism, an integrated linkage-driven dexterous anthropomorphic robotic hand called ILDA hand, which integrates all the components required for actuation and sensing and possesses high dexterity, is developed. It has the following features: 15-degree-of-freedom (20 joints), a fingertip force of 34N, compact size (maximum length: 218 mm) without additional parts, low weight of 1.1 kg, and tactile sensing capabilities. Actual manipulation tasks involving tools used in everyday life are performed with the hand mounted on a commercial robot arm.

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