An Education-Oriented Robotic Anthropomorphic Hand System

2014 ◽  
Author(s):  
Molei Wu ◽  
Alexander Kandra ◽  
Xiangrong Shen
Keyword(s):  
Engineering Education ◽  
Degrees Of Freedom ◽  
Control Device ◽  
Educational Outreach ◽  
Robotic Hand ◽  
Pneumatic Muscle ◽  
Hand Motion ◽  
Muscle Actuators ◽  
Education Outreach ◽  
Natural Way

In this paper, an interactive robotic anthropomorphic hand system is presented, which was developed as an important tool for the educational outreach activities. The robotic anthropomorphic hand incorporates 15 degrees of freedom, providing sufficient mobility in the demonstration of various postures. To increase the attractiveness of the robotic hand, pneumatic muscle actuators are used to drive the robotic hand motion through artificial tendons. The interaction of the robotic hand with a human is enabled with a control device, which allows the human operator to control the hand motion in a natural way. The robotic hand system has been successfully demonstrated in a recent engineering education outreach event, in which over 100 children at all ages operated the robotic hand through the control device.

Numerical Framework and Design Optimization of an Intrinsically Compliant 3-DOF Parallel Robot

2020 ◽  
Vol 21 (2) ◽  
Author(s):  
Shahid Hussain ◽  
Prashant K. Jamwal ◽  
Akim Kapsalyamov ◽  
Mergen H. Ghayesh
Keyword(s):  
Degrees Of Freedom ◽  
Parallel Robot ◽  
Singularity Analysis ◽  
Parallel Robots ◽  
Simultaneous Optimization ◽  
Design Synthesis ◽  
Pneumatic Muscle ◽  
Nonlinear Motion ◽  
Strength Pareto Evolutionary Algorithm ◽  
Muscle Actuators

Abstract Parallel robots are multiple degrees of freedom (DOFs) systems that are typically used in applications characterized by enhanced accuracy, rigidity, and large force requirements within a compact workspace. In the present research, an intrinsically compliant parallel robot with 3-DOFs, actuated using four pneumatic muscle actuators (PMA), is conceptualized, developed, and analyzed. Despite many benefits, parallel robots also offer certain challenges that arise from the highly coupled and nonlinear motion of their actuators. The small workspace of parallel robots has many singularities and solving a closed-form forward kinematics (FK) for its end-effector motion is complicated. The PMAs can provide intrinsically compliant robotic motions, however, since they are flexible, their unilateral actuation also poses constraints on the achievable DOFs. The present research focuses on analyzing kinematics and dynamics of the developed parallel robot incorporating the stiffness together with force closure analyses besides suggesting design improvements as a consequence of the singularity analysis. Design synthesis and multi-criteria optimization have been performed to obtain a robot design which may provide higher accuracies (near unity condition number), quick response to external wrench (stiffness and rigidity), and reduced actuator force requirements. SPEA2 (Improved Strength Pareto Evolutionary Algorithm) has been implemented to carry out the simultaneous optimization of design objectives and provide Pareto optimal design solutions.

Dexterous Robot’s Finger Actuated by Pneumatic Artificial Muscle

2011 ◽  
Vol 383-390 ◽  
pp. 920-924 ◽  
Author(s):  
Bing Jing Guo ◽  
Kai Wang
Keyword(s):  
Degrees Of Freedom ◽  
Steel Wire ◽  
Artificial Muscle ◽  
Force Sensor ◽  
Middle Finger ◽  
Artificial Muscles ◽  
Pneumatic Muscle ◽  
Theoretical Support ◽  
Muscle Actuators ◽  
Three Degrees Of Freedom

Through the structural analysis of hand, using mechatronics ideas, robot fingers based on Pneumatic Muscle Actuators (PMA) is designed and manufactured. Referring to the proportion of manual hand, the finger has three degrees of freedom. The far and middle finger joints are coupled of steel wire transmission mechanism, while the middle finger knuckle and the root are driven by a pair of artificial muscles. In order to realize the feedback control of displacement and the tactile force, the finger’s three joints are installed with three R24HS potentiometer and the fingertip is installed with the touch force sensor. The finger design integrates with mechanical structure, sensing, control and driving system. It achieves the integration and modularization in a maximum extent and completes the full theoretical support and experimental verification for the next step integration design of the flexible bionic robot hand.

scholarly journals Extended-State-Observer-Based Super Twisting Control for Pneumatic Muscle Actuators

Actuators ◽  
2021 ◽  
Vol 10 (2) ◽  
pp. 35
Author(s):  
Yu Cao ◽  
Zhongzheng Fu ◽  
Mengshi Zhang ◽  
Jian Huang
Keyword(s):  
Control Method ◽  
Experimental Studies ◽  
State Observer ◽  
Extended State Observer ◽  
Extended State ◽  
Pneumatic Muscle ◽  
System States ◽  
The Stability ◽  
Twisting Control ◽  
Muscle Actuators

This paper presents a tracking control method for pneumatic muscle actuators (PMAs). Considering that the PMA platform only feedbacks position, and the velocity and disturbances cannot be observed directly, we use the extended-state-observer (ESO) for simultaneously estimating the system states and disturbances by using measurable variables. Integrated with the ESO, a super twisting controller (STC) is design based on estimated states to realize the high-precision tracking. According to the Lyapunov theorem, the stability of the closed-loop system is ensured. Simulation and experimental studies are conducted, and the results show the convergence of the ESO and the effectiveness of the proposed method.

Radiation-tolerant robotic complex URS-2

2021 ◽  
Vol 9 (2) ◽  
pp. 142-150
Author(s):  
Ivan Guschin ◽  
Anton Leschinskiy ◽  
Andrey Zhukov ◽  
Alexander Zarukin ◽  
Vyacheslav Kiryukhin ◽  
...  
Keyword(s):  
Degrees Of Freedom ◽  
Force Feedback ◽  
Control Device ◽  
Control Panel ◽  
Original Design ◽  
Innovative Methods ◽  
Control Computer ◽  
Robotic Arm Control ◽  
6 Degrees Of Freedom ◽  
Radiation Tolerant

The results of the development of a radiation-tolerant robotic complex URS-2 for operation in hot cells at nuclear enterprises are presented. The robotic complex consists of several original components: robotic arm, control device with force feedback, control panel with hardware buttons and touch screen, control computer with system and application software, control-and-power cabinet. The robotic manipulator has 6 degrees of freedom, replaceable pneumatic grippers and is characterized by high radiation tolerance, similar to that of mechanical master-slave manipulators. The original design of the control device based on the delta-robot model that implements a copying mode of manual control of the robotic complex with force feedback is presented. The hardware and software solutions developed has made it possible to create a virtual simulator of the RTC for testing innovative methods of remote control of the robot, as well as teaching operators to perform technological tasks in hot cells. The experimental model of the robotic complex has demonstrated the ability to perform basic technological tasks in a demo hot cell, both in manual and automatic modes.

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.

HYBRID CLASSIFICATION STRATEGY OF EMG SIGNALS FOR ROBOTIC HAND CONTROL

2021 ◽  
pp. 2150015
Author(s):  
Fazia sbargoud ◽  
Mohamed Djeha ◽  
Mohamed Guiatni ◽  
Noureddine Ababou
Keyword(s):  
Degrees Of Freedom ◽  
Wavelet Packet ◽  
Hybrid Approach ◽  
Human Motion ◽  
Robotic Hand ◽  
User Intention ◽  
Emg Signal ◽  
Hybrid Classification ◽  
Electromyographic Signal ◽  
Artificial Neural Network Ann

Among the different bio-signals modalities, Electromyographic signal (EMG) has been one of the frequently used signals in the bio-robotics applications field. This is due to the fact that the EMG reflects directly the muscle activity of the user following the human motion intention. Consequently, the decoding of this intention is an essential task for controlling devices such as prosthetic hands and exoskeletons, based on EMG signals. This paper deals with the processing of EMG signals of the forearm muscles, in order to control two degrees of freedom (2 DoFs) robotic hand. The main contribution of this paper is the proposal of a hybrid approach that combines a pattern and a non-pattern recognition-based strategy. The proposed approach aims to take advantage of both strategies and overcome their shortcomings leading to a better analysis of the user movement intention. The EMG recorded signals are processed for feature extraction based on a Wavelet Packet Decomposition (WPD) method and classification using an Artificial Neural Network (ANN). Furthermore, we investigate the effect of the various parameters such as the applied force level, the number of the EMG channels and the window length of the EMG signal. The proposed approach is validated experimentally under realistic conditions. Very interesting results have been obtained for user intention decoding.

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