Transferring model-free objects between human hand and robot hand using vision/force control

2014 ◽  
Author(s):  
Mohamad Bdiwi ◽  
Alexey Kolker ◽  
Jozef Suchy
Keyword(s):  
Force Control ◽  
Human Hand ◽  
Robot Hand ◽  
Free Objects ◽  
Model Free

scholarly journals Robot Hand Imitating Disabled Person for Education/Training of Rehabilitation

2008 ◽  
Vol 20 (2) ◽  
pp. 280-288 ◽  
Author(s):  
Tetsuya Mouri ◽  
◽  
Haruhisa Kawasaki ◽  
Yutaka Nishimoto ◽  
Takaaki Aoki ◽  
...  
Keyword(s):  
Force Control ◽  
Disabled Persons ◽  
Rehabilitation Program ◽  
Torque Control ◽  
Joint Torque ◽  
Human Hand ◽  
Robot Hand ◽  
Tactile Sensors ◽  
Design Concepts ◽  
The Disabled

Because rehabilitation therapy students have few chances to train on disabled persons, we developed a robot hand for finger and wrist rehabilitation training, working hand with doctors and therapists, based on new design concepts imitating the disabled human hand. A joint torque rehabilitation program is calculated using distributed tactile sensors and a model of contracture joints with tendon adhesion. The hand is controlled by the force control based on torque control. The hand's effectiveness was demonstrated experimentally, and the robot is used by therapists to evaluate its efficacy.

scholarly journals Grasping Force Control of Multi-fingered Robot Hand based on Slip Detection Using Tactile Sensor

2007 ◽  
Vol 25 (6) ◽  
pp. 970-978 ◽  
Author(s):  
Daisuke Gunji ◽  
Takuma Araki ◽  
Akio Namiki ◽  
Aiguo Ming ◽  
Makoto Shimojo
Keyword(s):  
Force Control ◽  
Tactile Sensor ◽  
Robot Hand ◽  
Grasping Force ◽  
Slip Detection

Miniaturized Pneumatic Artificial Muscles Actuating a Bio-Inspired Robot Hand

2013 ◽  
Author(s):  
Thomas E. Pillsbury ◽  
Ryan M. Robinson ◽  
Norman M. Wereley
Keyword(s):  
Degrees Of Freedom ◽  
Full Scale ◽  
Constitutive Relationship ◽  
Force Density ◽  
Human Hand ◽  
Artificial Muscles ◽  
Specific Work ◽  
Robotic Hand ◽  
Robot Hand ◽  
Pneumatic Artificial Muscles

Pneumatic artificial muscles (PAMs) are used in robotics applications for their light-weight design and superior static performance. Additional PAM benefits are high specific work, high force density, simple design, and long fatigue life. Previous use of PAMs in robotics research has focused on using “large,” full-scale PAMs as actuators. Large PAMs work well for applications with large working volumes that require high force and torque outputs, such as robotic arms. However, in the case of a compact robotic hand, a large number of degrees of freedom are required. A human hand has 35 muscles, so for similar functionality, a robot hand needs a similar number of actuators that must fit in a small volume. Therefore, using full scale PAMs to actuate a robot hand requires a large volume which for robotics and prosthetics applications is not feasible, and smaller actuators, such as miniature PAMs, must be used. In order to develop a miniature PAM capable of producing the forces and contractions needed in a robotic hand, different braid and bladder material combinations were characterized to determine the load stroke profiles. Through this characterization, miniature PAMs were shown to have comparably high force density with the benefit of reduced actuator volume when compared to full scale PAMs. Testing also showed that braid-bladder interactions have an important effect at this scale, which cannot be modeled sufficiently using existing methods without resorting to a higher-order constitutive relationship. Due to the model inaccuracies and the limited selection of commercially available materials at this scale, custom molded bladders were created. PAMs created with these thin, soft bladders exhibited greatly improved performance.

Embedded Force Control Gripper for Frangible Fruit Robotic Manipulation

2013 ◽  
Vol 284-287 ◽  
pp. 1841-1845
Author(s):  
Shiuh Jer Huang ◽  
Wei Han Chang ◽  
Janq Yann Lin
Keyword(s):  
Force Control ◽  
Hybrid Control ◽  
Sliding Mode ◽  
Control Function ◽  
Low Cost ◽  
Banana Fruit ◽  
Embedded Control ◽  
Model Free ◽  
Position Controller ◽  
Hybrid Control System

Here a low cost embedded robotic gripper with force control function is designed for frangible fruit manipulation. This embedded control gripper is integrated with a Mitsubishi robot based on FPGA control structure. The model-free intelligent fuzzy sliding mode control strategy is employed to design the position controller of each joint and gripper force controller, respectively. Experimental results of pick-and-place frangible small tomato and banana fruit are shown by pictures to evaluate this embedded position/force hybrid control system performance.

Sign in / Sign up

Export Citation Format

Share Document