scholarly journals Design of a Single-Material Complex Structure Anthropomorphic Robotic Hand

Micromachines ◽  
2021 ◽  
Vol 12 (9) ◽  
pp. 1124
Author(s):  
Li Tian ◽  
Jianmin Zheng ◽  
Nadia Magnenat Thalmann ◽  
Hanhui Li ◽  
Qifa Wang ◽  
...  
Keyword(s):  
3D Model ◽  
Complex Structure ◽  
Single Type ◽  
Human Hand ◽  
Robotic Hand ◽  
Soft Body ◽  
Robotic Hands ◽  
New Approach ◽  
Motion Range ◽  
Single Material

In the field of robotic hand design, soft body and anthropomorphic design are two trends with a promising future. Designing soft body anthropomorphic robotic hands with human-like grasping ability, but with a simple and reliable structure, is a challenge that still has not been not fully solved. In this paper, we present an anatomically correct robotic hand 3D model that aims to realize the human hand’s functionality using a single type of 3D-printable material. Our robotic hand 3D model is combined with bones, ligaments, tendons, pulley systems, and tissue. We also describe the fabrication method to rapidly produce our robotic hand in 3D printing, wherein all parts are made by elastic 50 A (shore durometer) resin. In the experimental section, we show that our robotic hand has a similar motion range to a human hand with substantial grasping strength and compare it with the latest other designs of anthropomorphic robotic hands. Our new design greatly reduces the fabrication cost and assembly time. Compared with other robotic hand designs, we think our robotic hand may induce a new approach to the design and production of robotic hands as well as other related mechanical structures.

An Optimization Approach to Teleoperation of the Thumb of a Humanoid Robot Hand: Kinematic Mapping and Calibration

2014 ◽  
Vol 136 (9) ◽  
Author(s):  
Lei Cui ◽  
Ugo Cupcic ◽  
Jian S. Dai
Keyword(s):  
Input Device ◽  
Human Hand ◽  
Optimization Approach ◽  
Robotic Hand ◽  
Kinematic Structure ◽  
Robotic Hands ◽  
Data Glove ◽  
Minimax Algorithms ◽  
Kinematic Mapping ◽  
And Control

The complex kinematic structure of a human thumb makes it difficult to capture and control the thumb motions. A further complication is that mapping the fingertip position alone leads to inadequate grasping postures for current robotic hands, many of which are equipped with tactile sensors on the volar side of the fingers. This paper aimed to use a data glove as the input device to teleoperate the thumb of a humanoid robotic hand. An experiment protocol was developed with only minimum hardware involved to compensate for the differences in kinematic structures between a robotic hand and a human hand. A nonlinear constrained-optimization formulation was proposed to map and calibrate the motion of a human thumb to that of a robotic thumb by minimizing the maximum errors (minimax algorithms) of fingertip position while subject to the constraint of the normals of the surfaces of the thumb and the index fingertips within a friction cone. The proposed approach could be extended to other teleoperation applications, where the master and slave devices differ in kinematic structure.

An Affordable Linkage-and-Tendon Hybrid-Driven Anthropomorphic Robotic Hand—MCR-Hand II

2021 ◽  
Vol 13 (2) ◽  
Author(s):  
Haosen Yang ◽  
Guowu Wei ◽  
Lei Ren ◽  
Zhihui Qian ◽  
Kunyang Wang ◽  
...  
Keyword(s):  
System Integration ◽  
Mechanical Design ◽  
Low Cost ◽  
Score Test ◽  
Human Hand ◽  
Robotic Hand ◽  
Level Control ◽  
Robotic Hands ◽  
Driven Systems ◽  
And Control

Abstract This paper presents the design, analysis, and development of an anthropomorphic robotic hand coined MCR-hand II. This hand takes the advantages of both the tendon-driven and linkage-driven systems, leading to a compact mechanical structure that aims to imitate the mobility of a human hand. Based on the investigation of the human hand anatomical structure and the related existing robotic hands, mechanical design of the MCR-hand II is presented. Then, using D-H convention, kinematics of this hand is formulated and illustrated with numerical simulations. Furthermore, fingertip force is deduced and analyzed, and mechatronic system integration and control strategy are addressed. Subsequently, a prototype of the proposed robotic hand is developed, integrated with low-level control system, and following which empirical study is carried out, which demonstrates that the proposed hand is capable of implementing the grasp and manipulation of most of the objects used in daily life. In addition, the three widely used tools, i.e., the Kapandji score test, Cutkosky taxonomy, and Kamakura taxonomy, are used to evaluate the performance of the hand, which evidences that the MCR-hand II possesses high dexterity and excellent grasping capability; object manipulation performance is also demonstrated. This paper hence presents the design and development of a type of novel tendon–linkage-integrated anthropomorphic robotic hand, laying broader background for the development of low-cost robotic hands for both industrial and prosthetic use.

On the design of robotic hands for brain–machine interface

2006 ◽  
Vol 20 (5) ◽  
pp. 1-9 ◽  
Author(s):  
Yoky Matsuoka ◽  
Pedram Afshar ◽  
Michael Oh
Keyword(s):  
Brain Machine Interface ◽  
Human Hand ◽  
Prosthetic Hand ◽  
Robotic Hand ◽  
Neural Signals ◽  
Robotic Hands ◽  
Intimate Contact ◽  
Machine Interface ◽  
Optimal Approach ◽  
And Control

✓ Brain–machine interface (BMI) is the latest solution to a lack of control for paralyzed or prosthetic limbs. In this paper the authors focus on the design of anatomical robotic hands that use BMI as a critical intervention in restorative neurosurgery and they justify the requirement for lower-level neuromusculoskeletal details (relating to biomechanics, muscles, peripheral nerves, and some aspects of the spinal cord) in both mechanical and control systems. A person uses his or her hands for intimate contact and dexterous interactions with objects that require the user to control not only the finger endpoint locations but also the forces and the stiffness of the fingers. To recreate all of these human properties in a robotic hand, the most direct and perhaps the optimal approach is to duplicate the anatomical musculoskeletal structure. When a prosthetic hand is anatomically correct, the input to the device can come from the same neural signals that used to arrive at the muscles in the original hand. The more similar the mechanical structure of a prosthetic hand is to a human hand, the less learning time is required for the user to recreate dexterous behavior. In addition, removing some of the nonlinearity from the relationship between the cortical signals and the finger movements into the peripheral controls and hardware vastly simplifies the needed BMI algorithms. (Nonlinearity refers to a system of equations in which effects are not proportional to their causes. Such a system could be difficult or impossible to model.) Finally, if a prosthetic hand can be built so that it is anatomically correct, subcomponents could be integrated back into remaining portions of the user's hand at any transitional locations. In the near future, anatomically correct prosthetic hands could be used in restorative neurosurgery to satisfy the user's needs for both aesthetics and ease of control while also providing the highest possible degree of dexterity.

Transforming Human Hand Motion for Telemanipulation

1992 ◽  
Vol 1 (1) ◽  
pp. 63-79 ◽  
Author(s):  
Thomas H. Speeter
Keyword(s):  
Force Feedback ◽  
Robotic Manipulation ◽  
Human Hand ◽  
Robotic Hand ◽  
Robotic Hands ◽  
Automated Control ◽  
Functional Transformation ◽  
Hand Motion ◽  
Computationally Expensive ◽  
Human Hands

Manipulation by teleoperation (telemanipulation) offers an apparently straightforward and less computationally expensive route toward dextrous robotic manipulation than automated control of multifingered robotic hands. The functional transformation of human hand motions into equivalent robotic hand motions, however, presents both conceptual and analytical problems. This paper reviews and proposes algorithmic methods for transforming the actions of human hands into equivalent actions of slave multifingered robotic hands. Forward positional transformation is considered only, the design of master devices, feedforward dynamics, and force feedback are not considered although their importance for successful telemanipulation is understood. Linear, nonlinear, and functional mappings are discussed along with performance and computational considerations.

scholarly journals Magnetic Array Assisted Triboelectric Nanogenerator Sensor for Real-Time Gesture Interaction

2021 ◽  
Vol 13 (1) ◽  
Author(s):  
Ken Qin ◽  
Chen Chen ◽  
Xianjie Pu ◽  
Qian Tang ◽  
Wencong He ◽  
...  
Keyword(s):  
Real Time ◽  
Signal Amplitude ◽  
Human Hand ◽  
Triboelectric Nanogenerator ◽  
Robotic Hand ◽  
Robotic Hands ◽  
Human Machine Interaction ◽  
Gesture Interaction ◽  
New Strategy ◽  
Machine Interaction

AbstractIn human-machine interaction, robotic hands are useful in many scenarios. To operate robotic hands via gestures instead of handles will greatly improve the convenience and intuition of human-machine interaction. Here, we present a magnetic array assisted sliding triboelectric sensor for achieving a real-time gesture interaction between a human hand and robotic hand. With a finger’s traction movement of flexion or extension, the sensor can induce positive/negative pulse signals. Through counting the pulses in unit time, the degree, speed, and direction of finger motion can be judged in real-time. The magnetic array plays an important role in generating the quantifiable pulses. The designed two parts of magnetic array can transform sliding motion into contact-separation and constrain the sliding pathway, respectively, thus improve the durability, low speed signal amplitude, and stability of the system. This direct quantization approach and optimization of wearable gesture sensor provide a new strategy for achieving a natural, intuitive, and real-time human-robotic interaction.

Kinematics modeling and grasping experiment of pneumatic four-finger flexible robotic hand

2021 ◽  
pp. 095440622110282
Author(s):  
Hongbo Liu ◽  
Dexu Geng
Keyword(s):  
Coordinate Transformation ◽  
Simulation Experiment ◽  
Complex Structure ◽  
Kinematic Model ◽  
Human Hand ◽  
Robotic Hand ◽  
Maximum Mass ◽  
Grasping Forces ◽  
Kinematics Modeling ◽  
Adaptive Ability

To solve the complex structure, poor flexibility, and heavyweight of the rigid robotic hand, a pneumatic four-finger flexible robotic hand is developed in this paper. The robotic hand is about 1.3 times as large as that of a human hand and each finger is composed of a single multi-drive bending joint. The kinematic model of the robotic hand is established by using homogeneous coordinate transformation matrix. Through the simulation experiment of the robotic hand structure, the trajectory, and workspace of the robotic hand are established. According to the experimental results of grasping performance of the robotic hand, the grasping forces of different geometric positions along the finger axis are obtained. The results show that the robotic hand can realize a variety of grasping modes, has flexible action and strong adaptive ability; it can grasp, hold, and pinch, as well as stably grasp objects such as cylinder, box, and sphere. In pinch grasp mode, the robotic hand can grip objects as thin as 1 mm and the diameter of the grasped object varies from 28 mm to 160 mm; the maximum mass that the robotic hand can grasp an object with a diameter of 90 mm under 0.35 MPa is 1386 g.

Anthropometric Robotic Hand for Pressurized Glove Torque Measurement

2014 ◽  
Vol 11 (02) ◽  
pp. 1450018 ◽  
Author(s):  
Dustyn P. Roberts ◽  
Jack Poon ◽  
Daniella Patrick ◽  
Joo H. Kim
Keyword(s):  
Low Cost ◽  
Human Hand ◽  
Neutral Position ◽  
Robotic Hand ◽  
Robotic Hands ◽  
Performance Requirements ◽  
Transverse Arch ◽  
Data Processing Method ◽  
Design And Testing ◽  
Different Levels

While robotic hands have been developed for tasks such as manipulation and grasping, their potential as tools for evaluation of engineered products — particularly compliant structures that are not easily modeled — has not been broadly studied. In this research, a low-cost anthropometric robotic hand is introduced that is designed to characterize glove stiffness in a pressurized environment. The interaction with the compliant pressurized glove provides unique performance requirements and design constraints. The anthropometric robotic hand was designed to mimic the human hand in a configuration corresponding to the neutral position in zero gravity, including the transverse arch, longitudinal arch, and oblique flexion of the rays. The resulting robotic hand also allows for realistic donning and doffing of the prototype glove, its pressurization, and torque testing of individual joints. Solid modeling and 3D printing enabled the rapid design iterations necessary to work successfully with the compliant pressure garment. An instrumentation and data processing method was used to calculate the required actuator torque at each finger's knuckle joint. The performance of the robotic hand was experimentally demonstrated with a prototype spacesuit glove at different levels of pressure, followed by a statistical repeatability analysis. The reliable measurement method validated the pressure-induced stiffening. The resulting robotic design and testing method provide an objective and systematic way of evaluating the performance of compliant gloves.

scholarly journals Robotic Hands a Base for Prosthetics - A Review

2021 ◽  
pp. 623-631
Author(s):  
Pranay Dhongde ◽  
Dr. M. Sohail Pervez
Keyword(s):  
Review Paper ◽  
Human Hand ◽  
Robotic Hand ◽  
Robotic Hands ◽  
Finger Joints ◽  
Hand Functions ◽  
Set Of Points

This review paper reports the findings of previously designed robotic hand and summarizes the advantages and limitations for modeling a robotic hand and proposes methods to overcome the limitations of the previously designed hand models. A robotic hand forms its base by mimicking the structure and motions of a Human hand and all studies are focused on improving the current models to have similar dexterity as of the human hand. Many Robotic hands have been created to mimic the human hand functions and gestures but they still lack the dexterity, compactness or affordability for prosthetic use. In this paper we have reviewed recently designed rigid robotic hands having rotating finger joints and soft robotic tendon actuated hands that use a single elastic block to create the whole finger so to reduce the rotating finger joints after reviewing the designs we have compiled a set of points that can be used as the framework for a design that can overcome the limitations of the previous designs.

Cerebral Pulse Controlled Robotic Hand for Effective Paralytic Movements

2021 ◽  
Vol 9 (8) ◽  
pp. 2201-2204
Author(s):  
Abhay Patil
Keyword(s):  
Basic Assumption ◽  
Brain Computer Interface ◽  
Computer Interface ◽  
Robotic Arm ◽  
Human Hand ◽  
Robotic Hand ◽  
Handicapped People ◽  
Alpha Beta

Abstract: There are roughly 21 million handicapped people in India, which is comparable to 2.2% of the complete populace. These people are affected by various neuromuscular problems. To empower them to articulate their thoughts, one can supply them with elective and augmentative correspondence. For this, a Brain-Computer Interface framework (BCI) has been assembled to manage this specific need. The basic assumption of the venture reports the plan, working just as a testing impersonation of a man's arm which is intended to be powerfully just as kinematically exact. The conveyed gadget attempts to take after the movement of the human hand by investigating the signs delivered by cerebrum waves. The cerebrum waves are really detected by sensors in the Neurosky headset and produce alpha, beta, and gamma signals. Then, at that point, this sign is examined by the microcontroller and is then acquired onto the engineered hand by means of servo engines. A patient that experiences an amputee underneath the elbow can acquire from this specific biomechanical arm. Keywords: Brainwaves, Brain Computer Interface, Arduino, EEG sensor, Neurosky Mindwave Headset, Robotic arm

scholarly journals Variable Thumb Moment Arm Modeling and Thumb-Tip Force Production of a Human-Like Robotic Hand

2017 ◽  
Vol 139 (10) ◽  
Author(s):  
Taylor D. Niehues ◽  
Ashish D. Deshpande
Keyword(s):  
Physical Simulation ◽  
Three Dimensional ◽  
Force Production ◽  
Human Hand ◽  
Robotic Hand ◽  
Motion Data ◽  
Moment Arms ◽  
Musculoskeletal Structure ◽  
Thumb Motion ◽  
Force Vectors

The anatomically correct testbed (ACT) hand mechanically simulates the musculoskeletal structure of the fingers and thumb of the human hand. In this work, we analyze the muscle moment arms (MAs) and thumb-tip force vectors in the ACT thumb in order to compare the ACT thumb's mechanical structure to the human thumb. Motion data are used to determine joint angle-dependent MA models, and thumb-tip three-dimensional (3D) force vectors are experimentally analyzed when forces are applied to individual muscles. Results are presented for both a nominal ACT thumb model designed to match human MAs and an adjusted model that more closely replicates human-like thumb-tip forces. The results confirm that the ACT thumb is capable of faithfully representing human musculoskeletal structure and muscle functionality. Using the ACT hand as a physical simulation platform allows us to gain a better understanding of the underlying biomechanical and neuromuscular properties of the human hand to ultimately inform the design and control of robotic and prosthetic hands.

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