Design of 3D-printed Cable Driven Humanoid Hand Based on Bidirectional Elastomeric Passive Transmission

Motion control of the human hand is the most complex part of the human body. It has always been a challenge for a good balance between the cost, weight, responding speed, grasping force, finger extension, and dexterity of prosthetic hand. To solve these issues, a 3D-printed cable driven humanoid hand based on bidirectional elastomeric passive transmission (BEPT) is designed in this paper. A semi-static model of BEPT is investigated based on energy conservation law to analyze the mechanical properties of BEPT and a dynamical simulation of finger grasping is conducted. For a good imitation of human hand and an excellent grasping performance, specific BEPT is selected according to human finger grasping experiments. The advantage of BEPT based humanoid hand is that a good balance between the price and performance of the humanoid hand is achieved. Experiments proved that the designed prosthetic hand’s single fingertip force can reach 33 N and the fastest fingertip grasping speed realized 0.6 s/180°. It also has a good force compliance effect with only 430g’s weight. It can not only grab fragile objects like raw eggs and paper cup, but also achieve strong grasping force to damage metal cans. This humanoid hand has considerable application prospects in artificial prosthesis, human-computer interaction, and robot operation.

Design of 3D-Printed Cable Driven Humanoid Hand Based on Bidirectional Elastomeric Passive Transmission

Motion control of the human hand is the most complex part of the human body. It has always been a challenge for a good balance between the cost, weight, responding speed, grasping force, finger extension, and dexterity of prosthetic hand. In order to research and imitate the movement of the human hand, a 3D-printed cable driven humanoid hand based on bidirectional elastomeric passive transmission (BEPT) is designed in this paper. A semi-static model of BEPT is investigated based on energy conservation law to analyze the mechanical properties of BEPT. Then a simulation of dynamics of finger grasping is conducted. For a better imitation of human hand and a better grasping performance, specific BEPT is selected according to human finger grasping experiments. The advantage of BEPT based humanoid hand is that a good balance between the price and performance of the humanoid hand is achieved. Experiments proved that designed humanoid hand’s excellent grasping performance can be realized through BEPT. The designed prosthetic hand’s single fingertip force can reach 33N and has a good force control effect with 430g’s weight. It can not only grab fragile objects like raw eggs and paper cup, but also achieve strong grasping force to damage metal cans.

ROBOT LENGAN HUMANOID SEBAGAI ALTERNATIF PEMINDAH GELAS KIMIA

Robot can help humans to do their job easier and save them from dangerous work. The work is dangerous because humans sometimes do mistakes. In the laboratory, a little carelessness can cause the transmission of various catastrophic diseases such as AIDS, hepatitis B, hepatitis C, herpes, malaria, and tuberculosis. Therefore, in this paper, we propose a humanoid robot arms as an alternative to move chemical beakers. The design of the robot is divided into 3 parts namely mechanical, hardware, and software. The mechanics consist of parts of the robot’s fingers, the robot's arm, the robot's shoulder, and the robot's base that uses plastic material with 3D print. The hardware of the robot is based on a microcontroller using Arduino Nano. The finger of the robot pulled by the micro servo that is controlled by a 4.5-inch flex sensor by utilizing the resistivity of the flex sensor. Based on the results of tests that have been carried out obtained good results, with the value of the flex sensor can change every bend not proportional to the servo angle. Based on the flex sensor feedback on the glove and robot's fingers, we know that the error in the thumb is 0.01357, on the index finger is 0.01065, on the middle finger is 0.00956, on the ring finger is 0.00893, and on the finger pinkie of 0.01193. The conclusion obtained from this study is that the humanoid robot arm can protect us from accident caused by human error in the laboratory.Keywords—Humanoid Hand Robot, Arduino, Flex Sensor

A Modular Approach for Lightweight Humanoid Hand Design Using High Torque Density Electric Actuators

The human hand has extraordinary dexterity with more than 20 degrees of freedom (DOF) actuated by lightweight and efficient biological actuators (i.e., muscles). The average weight of human hand is only 400g [1]. Over the last few decades, research and commercialization effort has been dedicated to the development of novel robotic hands for humanoid or prosthetic application towards dexterous and biomimetic design [2]. However, due to the limitations of existing electric motors in terms of torque density and energy efficiency, the design of humanoid hands has to compromise between dexterity and weight. For example, commercial prosthetic terminal devices i-Limb [3] and Bebionic [4] prioritize the lightweight need (450g) and use 5-DOF motors to under-actuated 11 joints, which is only able to realize a few basic grasp postures. On the other hand, some humanoid robot hand devices like DLR-HIT I & II hands [5] prioritize the dexterity need (15 DOF), but weigh more than four times than their biological counterpart (2200g and 1500g, respectively).