scholarly journals Design Paradigms Based on Spring Agonists for Underactuated Robot Hands: Concepts and Application

2021 ◽  
Author(s):  
Tianjian Chen ◽  
Tianyi Zhang ◽  
Matei Ciocarlie
Keyword(s):  
Robot Hands ◽  
Underactuated Robot

Sensorless In-Hand Manipulation by An Underactuated Robot Hand

2020 ◽  
Vol 12 (5) ◽  
Author(s):  
Diego Ospina ◽  
Alejandro Ramirez-Serrano
Keyword(s):  
State Of The Art ◽  
A Priori ◽  
Experimental Tests ◽  
Robot Hand ◽  
A Priori Information ◽  
Robot Hands ◽  
Priori Information ◽  
Underactuated Robot ◽  
Theoretical Results ◽  
Manipulation Strategy

Abstract The limited dexterity that existing hand prostheses provide to users contrasts with the manipulation abilities exhibited by state-of-the-art robot hands. This paper presents an underactuated robot hand with in-hand manipulation capabilities to demonstrate the use of underactuation in the development of effective hand replacements. This paper describes a specific underactuated hand architecture, representative of many existing underactuated hand prototypes. First, the hand is modeled and its ability to manipulate objects of different geometries is analyzed. Second, a manipulation strategy suitable for prosthetic applications is proposed. The strategy enables the hand to manipulate objects in-hand without any a priori information of their geometry or physical properties. Finally, experimental tests conducted to validate the theoretical results are presented.

Open-source, affordable, modular, light-weight, underactuated robot hands

2014 ◽  
Author(s):  
Agisilaos G. Zisimatos ◽  
Minas V. Liarokapis ◽  
Christoforos I. Mavrogiannis ◽  
Kostas J. Kyriakopoulos
Keyword(s):  
Open Source ◽  
Light Weight ◽  
Robot Hands ◽  
Underactuated Robot

Realization of crawling motion by an underactuated robot with changing constraints

2002 ◽  
Vol 16 (2) ◽  
pp. 161-173 ◽  
Author(s):  
Fumitoshi Matsuno ◽  
Kazuyuki Ito ◽  
Rie Takahashi
Keyword(s):  
Underactuated Robot

scholarly journals Under-Actuated Robot Manipulator Positioning Control Using Artificial Neural Network Inversion Technique

2012 ◽  
Vol 2012 ◽  
pp. 1-6 ◽  
Author(s):  
Ali T. Hasan
Keyword(s):  
Inverse Dynamics ◽  
Robot Manipulator ◽  
Positioning Control ◽  
Passive Joint ◽  
Inversion Technique ◽  
Working Space ◽  
Neural Network Inversion ◽  
Gear Trains ◽  
Artificial Neural ◽  
Underactuated Robot

This paper is devoted to solve the positioning control problem of underactuated robot manipulator. Artificial Neural Networks Inversion technique was used where a network represents the forward dynamics of the system trained to learn the position of the passive joint over the working space of a 2R underactuated robot. The obtained weights from the learning process were fixed, and the network was inverted to represent the inverse dynamics of the system and then used in the estimation phase to estimate the position of the passive joint for a new set of data the network was not previously trained for. Data used in this research are recorded experimentally from sensors fixed on the robot joints in order to overcome whichever uncertainties presence in the real world such as ill-defined linkage parameters, links flexibility, and backlashes in gear trains. Results were verified experimentally to show the success of the proposed control strategy.

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