scholarly journals Development of Real-Time Electromyography Controlled 3D Printed Robot Hand Prototype

2019 ◽  
Vol 10 (1) ◽  
pp. 35-44
Author(s):  
Mohamad Aizat Abdul Wahit ◽  
Fatimahtul Zahrah Romzi ◽  
Siti Anom Ahmad ◽  
Mohd Hamiruce Marhaban ◽  
Wada Chikamune
Keyword(s):  
Structural Design ◽  
Control Method ◽  
Muscular Activity ◽  
Movement Control ◽  
Research Field ◽  
Human Hand ◽  
Robotic Hand ◽  
Robot Hand ◽  
3D Printed ◽  
Average Size

Developing an anthropomorphic robotic hand (ARH) has become a relevant research field due to the need to help the amputees live their life as normal people. However, the current state of research is unsatisfactory, especially in terms of structural design and the robot control method. This paper, which proposes a 3D printed ARH structure that follows the average size of an adult human hand, consists of five fingers with a tendon-driven actuator mechanism embedded in each finger structure. Besides that, the movement capability of the developed 3D printed robot hand validated by using motion capture analysis to ensure the similarity to the expected motion range in structural design is achieved. Its system functionality test was conducted in three stages: (1) muscular activity detection, (2) object detection for individual finger movement control, and (3) integration of both stages in one algorithm. Finally, an ARH was developed, which resembles human hand features, as well as a reliable system that can perform opened hand palm and some grasping postures for daily use.

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.

Optimized Fingertip Mapping:A General Algorithm for Robotic Hand Teleoperation

1993 ◽  
Vol 2 (3) ◽  
pp. 203-220 ◽  
Author(s):  
Robert N. Rohling ◽  
John M. Hollerbach ◽  
Stephen C. Jacobsen
Keyword(s):  
General Algorithm ◽  
Human Hand ◽  
Robotic Hand ◽  
Robot Hand ◽  
Mapping Strategy ◽  
Robot Hands ◽  
A Priority ◽  
Dextrous Hand

An optimized fingertip mapping (OFM) algorithm has been developed to transform human hand poses into robot hand poses. It has been implemented to teleoperate the Utah/MIT Dextrous Hand by a new hand master: the Utah Dextrous Hand Master. The keystone of the algorithm is the mapping of both the human fingertip positions and orientations to the robot fingers. Robot hand poses are generated by minimizing the errors between desired human fingertip positions and orientations and possible robot fingertip positions and orientations. Differences in the fingertip workspaces that arise from kinematic dissimilarities between the human and robot hands are accounted for by the use of a priority based mapping strategy. The OFM gives first priority to the human fingertip position goals and the second to orientation.

scholarly journals A Fuzzy Logic Control System for a Robotic Hand Driven by Shape Memory Alloy Wires

2019 ◽  
Vol 4 (10) ◽  
pp. 173-178
Author(s):  
André Silva ◽  
Samuel De Oliveira ◽  
Andreas Ries ◽  
Simplício A. Silva ◽  
Cícero Souto
Keyword(s):  
Fuzzy Logic ◽  
Control System ◽  
Shape Memory ◽  
Artificial Muscle ◽  
Human Hand ◽  
Practical Implementation ◽  
Robotic Hand ◽  
Logic Control ◽  
3D Printed ◽  
Niti Wires

This paper presents a robotic hand using wires with shape memory (NiTi) as non-conventional actuators. The mechanical structure of the robot hand was first designed by means of a CAD computer program and afterwards 3D printed using ABS polymer. The robotic hand was designed according to the physiological characteristics of the human hand, with particular attention to the angles formed by the phalanges of the fingers. A mechanical system accommodates the thin NiTi wires compactly, thus forming an artificial muscle. A fuzzy logic based control system allows an accurate positioning of each phalanx. The contribution of the present work to science lies in the practical implementation of known techniques and materials.

The Control Method for the Robot Hand Based on the Fuzzy Theory

1992 ◽  
Vol 4 (4) ◽  
pp. 262-267 ◽  
Author(s):  
Masafumi Uchida ◽  
◽  
Hideto Ide
Keyword(s):  
Control Method ◽  
Index Finger ◽  
Fuzzy Theory ◽  
Middle Finger ◽  
Human Hand ◽  
Robot Hand ◽  
Production Rules ◽  
Living Body ◽  
Physical Conditions ◽  
State Of Mind

By moving muscles, the myogenic potential (Electromyogram: EMG) is observed on the surface of the living body. It is considered that the EMG is useful for controlling a robot hand. However, the EMG depends on physical conditions, the state of mind and so on. So, the original EMG will be not used for controlling the robot hand directly. In this study, it is considered that the EMG relating the motion of the human hand is analyzed by the fuzzy theory for making the robot hand performs the same motion as the human hand. EMG were measured under the following conditions. (1) opening the hand, (2) bending the thumb, (3) bending the middle finger, (4) bending the index finger, (5) closing the hand, (6) not move. Six production rules were made with fuzzificate data resulted from fourier transforming the EMG (30-band 1/3 octave analysis). Also the EMG measured by experimental motion of the human hand was transformed into the fuzzificate date. Rates of recognitions were calculated in comparison with the six production rules and the experimental data. And one production rule with highest rate of recognition was used for recognition of movement of the human hand in the computer. From the experimental results, about 90% of movement were recognized by the computer. The results were applied to control the robot hand.

Visual-Servoing Control of Robot Hand with Estimation of Full Articulation of Human Hand

2014 ◽  
Vol 625 ◽  
pp. 728-735
Author(s):  
Motomasa Tomida ◽  
Kiyoshi Hoshino
Keyword(s):  
High Speed ◽  
Visual Servoing ◽  
Image Features ◽  
Human Hand ◽  
Depth Camera ◽  
Robotic Hand ◽  
Robot Hand ◽  
Depth Sensor ◽  
Data Set ◽  
Hand Image

A depth sensor or depth camera is available at a reasonable cost in recent years. Due to the excessive dispersion of depth values outputted from the depth camera, however, changes in the pose cannot be directly employed for complicated hand pose estimation. The authors therefore propose a visual-servoing controlled robotic hand with RGB high-speed cameras. Two cameras have their own database in the system. Each data set has proportional information of each hand image and image features for matching, and joint angle data for output as estimated results. Once sequential hand images are recorded with two high-speed RGB cameras, the system first selects one database with bigger size of hand region in each recorded image. Second, a coarse screening is carried out according to the proportional information on the hand image which roughly corresponds to wrist rotation, or thumb or finger extension. Third, a detailed search is performed for similarity among the selected candidates. The estimated results are transmitted to a robot hand so that the same motions of an operator is reconstructed in the robot without time delay.

scholarly journals Design and Development of Prosthetic Hand Controlled by Wireless Gestures for Differently-Able People

2020 ◽  
Vol 9 (4) ◽  
pp. 1132-1135
Keyword(s):  
Human Hand ◽  
Prosthetic Hand ◽  
Robotic Hand ◽  
Servo Motor ◽  
Design And Development ◽  
Similar Action ◽  
Analog Signals ◽  
3D Printed ◽  
Arduino Microcontroller ◽  
Flex Sensors

This paper focuses on the design and development of Prosthetic hand to help differently-able people who lost their hands due to accidents and diseases. Our research purpose is to develop a master and slave robotic system that will be a substitute for the lost hand to do the day-to-day activities of a person. The person has to wear smart gloves in the hand to do gesture action. The gloves will able to transfer the hand gestures of differently-able people to react suitably and move the hand gripper (which contains spring coils similar to bones in human hand) based on the data from smart gloves. The methodology behind this research is that the analog signals produced in the flex sensor due to the gesture action are transferred to the servo motors to do a similar action in the 3D printed prosthetic hand through the Wi-Fi module. This research project involves two Arduino microcontrollers for communicating and controlling applications in both master and slave sections. A number of flex sensors are placed in the glove to get readings of the motion of human fingers and it is transmitted through the Wi-Fi module by using the Arduino microcontroller. The transmitted signals are received by the Wi-Fi module in the slave section through the Arduino microcontroller and further uses this signal to control various servo motors and it controls the slave robotic hand by using the ropes attached between the servo motor and 3D printed parts. Not only for differently-able people, but the enlarged model of this project can also be used in industries to handle hazardous, harmful, high temperatures and harmful things.

scholarly journals DESIGN OF A SIMPLIFIED 3D-PRINTED ARTIFICIAL UNDERACTUATED HAND

2020 ◽  
Vol 1 ◽  
pp. 1027-1036
Author(s):  
A. Orabona ◽  
A. Palazzi ◽  
S. Graziosi ◽  
F. Ferrise ◽  
M. Bordegoni
Keyword(s):  
Additive Manufacturing ◽  
Human Robot Interaction ◽  
Human Hand ◽  
Robotic Hand ◽  
Design Tools ◽  
Robot Interaction ◽  
Recent Interest ◽  
Technological Advances ◽  
3D Printed ◽  
Manufacturing Technologies

AbstractThe recent interest in human-robot interaction requires the development of new gripping solutions, compared to those already available and widely used. One of the most advanced solutions in nature is that of the human hand, and several research contributions try to replicate its functionality. Technological advances in manufacturing technologies and design tools are opening possibilities in the design of new solutions. The paper reports the results of the design of an underactuated artificial robotic hand, designed by exploiting the benefits offered by additive manufacturing technologies.

scholarly journals A Low-Cost Soft Robotic Hand Exoskeleton for Use in Therapy of Limited Hand–Motor Function

2019 ◽  
Vol 9 (18) ◽  
pp. 3751 ◽  
Author(s):  
Grant Rudd ◽  
Liam Daly ◽  
Vukica Jovanovic ◽  
Filip Cuckov
Keyword(s):  
Cost Effectiveness ◽  
Physical Therapy ◽  
Low Cost ◽  
Human Hand ◽  
Robotic Hand ◽  
Healthy Human ◽  
3D Printed ◽  
Hand Exoskeleton ◽  
Arduino Microcontroller ◽  
Work Done

We present the design and validation of a low-cost, customizable and 3D-printed anthropomorphic soft robotic hand exoskeleton for rehabilitation of hand injuries using remotely administered physical therapy regimens. The design builds upon previous work done on cable actuated exoskeleton designs by implementing the same kinematic functionality, but with the focus shifted to ease of assembly and cost effectiveness as to allow patients and physicians to manufacture and assemble the hardware necessary to implement treatment. The exoskeleton was constructed solely from 3D-printed and widely available off-the-shelf components. Control of the actuators was realized using an Arduino microcontroller, with a custom-designed shield to facilitate ease of wiring. Tests were conducted to verify that the range of motion of the digits and the forces exerted at the fingertip coincided with those of a healthy human hand.

Development and control of a multifingered robotic hand using a pneumatic tendon-driven actuator

2011 ◽  
Vol 23 (3) ◽  
pp. 345-352 ◽  
Author(s):  
Jun-Ya Nagase ◽  
Norihiko Saga ◽  
Toshiyuki Satoh ◽  
Koichi Suzumori
Keyword(s):  
Control System ◽  
Silicone Rubber ◽  
Japanese Population ◽  
Human Hand ◽  
Robotic Hand ◽  
Robot Hand ◽  
Young Workers ◽  
Robot Hands ◽  
Soft Objects ◽  
And Control

Because of the rapid aging of the Japanese population and the acute decrease in young workers in Japan, robots are anticipated for use in performing rehabilitation and daily domestic tasks for nursing and welfare services. Use in environments with humans, safety, and human affinity are particularly important robot hand characteristics. Such robot hands must have flexible movements and be lightweight. Under these circumstances, this study specifically addresses the expansion of a silicone rubber, tendon-driven actuator, which has been developed using a pneumatic balloon. A multifingered robotic hand using the actuator is developed. Moreover, a fuzzy grasping control system is applied to the proposed robotic hand. The robot hand’s development is described incorporating pneumatic balloon actuator with the softness, size, and weight of a human hand. The fuzzy grasping control system is shown to be effective for the proposed robot hand, which can grasp soft objects easily.

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