Relevant bibliographies by topics / Anthropomorphic kinematics

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  1. Journal articles
  2. Dissertations / Theses
  3. Book chapters
  4. Conference papers

Academic literature on the topic 'Anthropomorphic kinematics'

Author: Grafiati
Published: 24 January 2024

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Journal articles on the topic "Anthropomorphic kinematics"

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Petrescu, Florian Ion Tiberiu, and Relly Victoria Virgil Petrescu. "ABOUT THE ANTHROPOMORPHIC ROBOTS." Engevista 17, no. 1 (May 9, 2014): 1. http://dx.doi.org/10.22409/engevista.v17i1.565.

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The paper presents an original geometrical and kinematic method for the study of geometry and determining positions of a MP-3R structure of the anthropomorphic robots. It presents shortly the MP-3R direct and inverse kinematics, the inverse kinematics being solved by an original exactly method. One presents shortly an original method to solve the robot inverse kinematics exemplified at the 3R-Robots (MP-3R). The system which must be solved has three equations and three independent parameters to determine. Constructive basis is represented by a robot with three degrees of freedom (a robot with three axes of rotation). If we study (analyze) an anthropomorphic robot with three axes of rotation (which represents the main movements, absolutely necessary), we already have a base system, on which we can then add other movements (secondary, additional). Calculations were arranged and in the matrix form. The most commonly used serial structures over the last 20 or 30 years are those of type 3R, 4R, 5R, 6R, having as constituents essential basic kinematic chain 3R, robot anthropomorphic (RRR), where main rotation around a vertical axis, causes the construction. It can thus passes from the study spatial movement, which is more difficult, to the study motion plane, basic movement, for all the robots and fillers serial movements of rotation. Moving flat, horizontal or vertical, shall be undertaken far more easily than the spatial integration with the convenience simple in the space of which it is part. We will exemplify the basic structure existing in a few serial platforms of rotation, these being the most generalized (more widespread) at the present time. In this work will be pursued and the direct and inverse kinematics of these mechanical systems. It can make the transition from 3R systems-level 2R and vice versa.
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Kabanov, Aleksey, and Aleksey Balabanov. "The modeling of an anthropomorphic robot arm." MATEC Web of Conferences 224 (2018): 02034. http://dx.doi.org/10.1051/matecconf/201822402034.

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This paper considers the anthropomorphic manipulator kinematics modeling problem. The considered anthropomorphic robot SAR-400 manipulator with five-fingered gripper has twelve degrees of freedom. In the paper the robot SAR-400 arm kinematic model and the simulation results are presented.
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Petrescu, Florian Ion Tiberiu, and Relly Victoria Virgil Petrescu. "DIRECT AND INVERSE KINEMATICS TO THE ANTHROPOMORPHIC ROBOTS." Engevista 18, no. 1 (July 27, 2016): 109. http://dx.doi.org/10.22409/engevista.v18i1.729.

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The paper presents an original geometrical and kinematic method for the study of geometry and determining positions of a MP-3R structure. It presents shortly the MP-3R direct and inverse kinematics, the inverse kinematics being solved by an original exactly method. One presents shortly an original method to solve the robot inverse kinematics exemplified at the 3R-Robots (MP-3R). The system which must be solved has three equations and three independent parameters to determine. Constructive basis is represented by a robot with three degrees of freedom (a robot with three axes of rotation). If one study (analyzes) an anthropomorphic robot with three axes of rotation (which represents the main movements, absolutely necessary), it already has a base system, on which one can then add other movements (secondary, additional). Calculations were arranged and in the matrix form.
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Ren, Bin, Jianwei Liu, Xurong Luo, and Jiayu Chen. "On the kinematic design of anthropomorphic lower limb exoskeletons and their matching movement." International Journal of Advanced Robotic Systems 16, no. 5 (September 1, 2019): 172988141987590. http://dx.doi.org/10.1177/1729881419875908.

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The lower limb exoskeleton is a wearable device for assisting medical rehabilitation. A classical lower limb exoskeleton structures cannot precisely match the kinematics of the wearer’s limbs and joints in movement, so a novel anthropomorphic lower limb exoskeleton based on series–parallel mechanism is proposed in this article. Then, the human lower limb movements are measured by an optical gait capture system. Comparing the simulation results of the series–parallel mechanism with the measured human data, the kinematics matching model at the hip joint is established. The results show that the kinematic matching errors in the X, Y, and Z directions are less than 2 mm. So, the proposed kinematics matching model is effective and the anthropomorphic series–parallel mechanism has a significant improvement in tracing the human positions at the hip joint.
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V. Petrescu, Relly Victoria, Raffaella Aversa, Bilal Akash, Ronald B. Bucinell, Juan M. Corchado, Filippo Berto, MirMilad Mirsayar, Antonio Apicella, and Florian Ion T. Petrescu. "Anthropomorphic Solid Structures n-R Kinematics." American Journal of Engineering and Applied Sciences 10, no. 1 (January 1, 2017): 279–91. http://dx.doi.org/10.3844/ajeassp.2017.279.291.

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Kubik, Ilona, and Paweł Kwiatoń. "Algorytm rozwiązywania kinematyki prostej manipulatorów antropomorficznych." Prace Naukowe Akademii im. Jana Długosza w Częstochowie. Technika, Informatyka, Inżynieria Bezpieczeństwa 5 (2017): 39–51. http://dx.doi.org/10.16926/tiib.2017.05.03.

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Petrescu, Florian Ion T., Antonio Apicella, Filippo Berto, Juan M. Corchado, Ronald B. Bucinell, Bilal Akash, Raffaella Aversa, and Relly Victoria V. Petrescu. "Corrigendum: Anthropomorphic Solid Structures n-R Kinematics." American Journal of Engineering and Applied Sciences 12, no. 1 (January 1, 2019): 121. http://dx.doi.org/10.3844/ajeassp.2019.131.

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Li, Yanbiao, Peng Sun, Huan Qi, and Yiqin Luo. "Prototyping of a novel anthropomorphic mechanical leg." Advances in Mechanical Engineering 11, no. 12 (December 2019): 168781401989380. http://dx.doi.org/10.1177/1687814019893802.

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This research aims to explore a better kinematic performance and design scheme for a novel mechanical leg using parameter optimization method. Serial structural mechanisms are widely employed in anthropomorphic mechanism legs but with significant disadvantages of the complex structure and large inertia, particularly, for the multi-objective parameter optimization it is hard to select good parameters to achieve excellent performance. In this article, the plane model of the solution space for multiple parameters and a novel statistics parameter optimization method were proposed for a novel mechanical leg. In the position analysis, the structure and workspace for the novel mechanical leg were developed with simple structure, small inertia, and large workspace; and several kinematic performance evaluation indices were also proposed in the kinematics analysis. In the parameter optimization process, the design scheme and prototyping of the mechanical leg have shown a better kinematic performance by considering the assembly technique as compared with the conventional models. The proposed research provides the basis for the applications of the novel mechanical leg, which can be applied in the modern humanoid robot fields to meet the requirements of high stiffness, lower inertia, and good technological efficiency.
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Silva, Sérgio Ricardo Xavier da, Leizer Schnitman, and Vitalino Cesca Filho. "Analysis of computational efficiency for the solution of inverse kinematics problem of anthropomorphic robots using Gröbner bases theory." International Journal of Advanced Robotic Systems 18, no. 1 (January 1, 2021): 172988142198954. http://dx.doi.org/10.1177/1729881421989542.

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This article presents an analysis of computational efficiency to solve the inverse kinematics problem of anthropomorphic robots. Two approaches are investigated: the first approach uses Paul’s method applied to the matrix obtained by the Denavit–Hartenberg algorithm and the second approach uses Gröbner bases theory. With each approach, the problem of inverse kinematics for an anthropomorphic robot will be solved. When comparing each method, this article will demonstrate that the method using Gröbner bases theory is more computationally efficient.
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BOLOGA, OCTAVIAN, and MIHAI CRENGANIŞ. "Efficient method for position control of a redundant robot." Journal of Engineering Sciences and Innovation 2, no. 2 (2017): 1–8. http://dx.doi.org/10.56958/jesi.2017.2.2.1.

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To begin the work presents some redundancy resolution schemes for robotic arms, i.e., the techniques for exploiting the redundant degrees of freedom in the solution of the inverse kinematics problem. This is obviously an issue of major relevance for motion planning and control purposes. In particular, task-oriented kinematics and the basic methods for its inversion at the velocity (first-order differential) level are first recalled. This paper focuses on modeling and simulations of the inverse kinematics of an anthropomorphic redundant robotic structure with seven degrees of freedom and a workspace similar to human arm. Also the kinematic model of the robotic arm in the MATLAB and Simulink environment is presented. A method of resolving the redundancy of a seven degrees of freedom robotic arm when a degree of freedom has a known variation is presented. The kinematic analysis and virtual simulation share similar results.
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Dissertations / Theses on the topic "Anthropomorphic kinematics"

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WALLÉN, KIESSLING ALEXANDER, and NICLAS MÄÄTTÄ. "Anthropomorphic Robot Arm." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279804.

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Robot manipulators are commonly used in today's industrial applications. In this report a 3D-printed anthropomorphic robot arm with three degrees of freedom was constructed. The robot arm operates with the use of a microcontroller and servomotors. Through utilizing the Denavit-Hartenberg method and inverse kinematics the robot’s end effector is able to reach a specified point in space. This report has found that the accuracy of the constructed robotic manipulator reaching a specific coordinate depends on the distance of the end effector from its base. The relative error of the constructed robot’s positioning falls within 1.3- 6.9%, with a 99% confidence.
Robotmanipulatorer är idag vanligt förekommande i industriella applikationer. I denna rapport konstrueras en 3D-printad antropomorf robotarm med tre frihetsgrader. Robotarmen styrs med hjälp av en mikrokontroller och servomotorer. Baserat på DenavitHartenberg metoden och inverskinematik kan robotens ändpunkt ta sig till en specificerad punkt i rummet. Vidare har rapporten funnit att den konstruerade robotens exakthet beror på avståndet emellan robotens manipulator och dess bas. Det relativa felet av robotens positionering ligger inom intervallet 1.3-6.9% med en 99% konfidens.
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Ita, Meagan Eleanor. "Comparison of Q3s Anthropomorphic Test Device Biomechanical Responses to Pediatric Volunteers." The Ohio State University, 2014. http://rave.ohiolink.edu/etdc/view?acc_num=osu1397486884.

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Kang, Yun Seok. "Evaluation of Biofidelity of Anthropomorphic Test Devices and Investigation of Cervical Spine Injury in Rear Impacts: Head-Neck Kinematics and Kinetics of Post Mortem Human Subjects." The Ohio State University, 2011. http://rave.ohiolink.edu/etdc/view?acc_num=osu1313554843.

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Mendes, Eduardo Felippe Aguiar. "Uma contribuição ao desenvolvimento de manipuladores antropomorficos com enfase na utilização de musculos artificiais." [s.n.], 2007. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264731.

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Orientadores: Helder Anibal Hermini, Paulo R. G. Kurka
Dissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica
Made available in DSpace on 2018-08-10T05:53:08Z (GMT). No. of bitstreams: 1 Mendes_EduardoFelippeAguiar_M.pdf: 4299696 bytes, checksum: d73355f383b74bd0e49b3bc2473e5b6b (MD5) Previous issue date: 2007
Resumo: Este trabalho visou o estudo de manipuladores à semelhança do membro superior humano. Após o estudo do membro superior humano e dos robôs antropomórficos disponíveis tanto na industria quanto no meio acadêmico, utilizaram-se teorias de modelagem geométrica, cinemática direta e cinemática inversa para realizar o modelo de um manipulador robótico antropomórfico. A partir desse modelo desenvolveu-se um software em LabVIEW de Cinemática Direta e Cinemática Inversa de operação em tempo real. Com a intenção de verificar os acionadores mais apropriados disponíveis atualmente, um estudo de músculos artificiais se seguiu, onde se observou a maior viabilidade do músculo artificial de SMA ativado eletricamente. Um protótipo de junta acionada por músculos artificiais foi desenvolvido e controlado via computador. Como resultado deste trabalho conclui-se que há ainda muito para ser desenvolvido na área de manipuladores antropomórficos, principalmente no que diz respeito aos músculos artificiais
Abstract: This work sought the study of manipulators to the similarity of the human superior member. After the study of human superior member, and of anthropomorphics robotics available in the industries and in the academic middle, it was used theories of geometric modelling, direct kinematics modelling and inverse kinematics modelling to make the model of a anthropomorphic robotic manipulator. With that model it grew a software in LabVIEW of real time Direct Kinematics and Inverse Kinematics. With the intention of verifying the available most appropriate actuators, a study of artificial muscles was proceeded, where the largest viability of the artificial muscle of SMA activated electrically was observed. A joint prototype actuated by artificial muscles was developed and controlled through computer. As a result of this work it is ended that there is still a lot to be developed in the area of anthropomorphic manipulators, mainly in what it concerns the artificial muscles
Mestrado
Mecanica dos Sólidos e Projeto Mecanico
Mestre em Engenharia Mecânica
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Butin, Côme. "Conception et réalisation d'une nouvelle prothèse de main myoélectrique accessible." Electronic Thesis or Diss., Ecole centrale de Nantes, 2023. http://www.theses.fr/2023ECDN0021.

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L’objectif principal de cette thèseest de présenter une prothèse de main myoélectriqueaccessible qui combine des critèrestels que le prix abordable, la solidité, la fonctionnalitéet la performance. Cette nouvelleprothèse permet d’effectuer des prises latéraleset opposées. Tout d’abord, nous proposonsune méthode de placement des articulationsqui permet d’obtenir un résultatplus réaliste sur le plan anthropomorphique.De plus, nous avons développé et optimiséune solution de transmission interdigitale quipermet d’associer la flexion des doigts supérieursà celle du pouce. Une analyse détailléede la performance énergétique et thermiquede la prothèse est également présentée.Nous avons proposé une nouvelle stratégiede commande qui tire parti de l’irréversibilitéde la transmission de puissance et nousl’avons étudiée. Enfin, nous soulignons l’importanced’une transmission de puissance optimalesur le plan énergétique. Pour cela, nousdécrivons en détail la synthèse d’un nouveaumécanisme de réducteur à rapport variable,ainsi que la présentation d’un nouveau mécanismed’irréversibilité efficace. Enfin, nousavons évalué individuellement tous ces composantsde prothèse en mettant en place desprototypes expérimentaux qui démontrent leurutilité. L’intégration de ces composants dansune nouvelle prothèse est une perspective envisagéedans cette étude
The main objective of this thesisis to present an accessible myoelectric handprosthesis that combines criteria such as affordability,durability, functionality, and performance.This new prosthesis allows for bothlateral and opposing grips. Firstly, we proposea method for joint placement that achieves amore realistic anthropomorphic result. Additionally,we have developed and optimized aninterdigital transmission solution that enablesthe coordination of the flexion between the upperfingers and the thumb. A detailed analysisof the prosthesis’s energy and thermalperformance is also provided. We have proposeda new control strategy that takes advantageof the irreversibility of power transmissionand thoroughly studied it. Furthermore,we emphasize the importance of achievingoptimal energy-efficient power transmission.To this end, we describe in detail the synthesisof a new mechanism with variable reductionratio and present a new efficient irreversibilitymechanism. Finally, we individuallyevaluate all these prosthesis componentsby implementing experimental prototypes thatdemonstrate their usefulness. The integrationof these components into a new prosthesis isa prospective direction explored in this study
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Stammen, Jason Anthony. "Biomechanical Characterization of the Human Upper Thoracic Spine – Pectoral Girdle (UTS-PG) System: Anthropometry, Dynamic Properties, and Kinematic Response Criteria for Adult and Child ATDs." The Ohio State University, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=osu1344880193.

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Chandra, Rohit. "Application of Dual Quaternion for Bimanual Robotic Tasks." Thesis, Université Clermont Auvergne‎ (2017-2020), 2019. http://www.theses.fr/2019CLFAC042.

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L'approche classique pour le contrôle coopératif dans l’espace de travail d’un manipulateur bi-bras a été revisitée. En particulier, une nouvelle approche pour la formulation symétrique de la coordination bi-bras à l'aide du concept "virtual sticks" a été proposée à l'aide d'un torseur cinématique en utilisant des quaternions duaux. Le contrôle couplé dans l'espace de travail coopératif qui est proposé, i.e. le contrôle simultané, en position et en orientation, des points de consigne de l'espace de travail relatif et absolu a été comparé à un contrôleur proportionnel découplé traitant séparément les erreurs de position et d'orientation. Le contrôleur couplé a démontré un meilleur suivi de la pose et de l'orientation en termes de précision et de stabilité comparé au contrôleur découplé pour les tâches exigeant un fonctionnement plus rapide dans l'espace de travail relatif des manipulateurs bi-bras.L'approche de modélisation et de contrôle de l'espace de travail d’une tâche coopérative, en exploitant les torseurs cinématiques et des quaternions duaux, a été étendue à la modélisation de la coopération des doigts d'une main robotique anthropomorphique. De plus, le couplage des articulations des doigts sous-actionnés de la main robotique a été représenté à l’aide de la "jacobienne couplée" du doigt. La "jacobienne couplée" du doigt robotique a été utilisée pour le contrôle cinématique inverse, tout en lui permettant une intégration facile avec un bras robotique.L'idée d'un traitement couplé des variables en position et en orientation a été capitalisée en utilisant la conception d'une trajectoire de second ordre utilisant des quaternions duaux. Le contrôleur de trajectoire ainsi conçu est capable de suivre les points de consigne en pose en vitesse et en accélération, de l'effecteur en utilisant le modèle dynamique inverse du robot. Le contrôleur couplé en taux d’accélération résolue ("resolved rate acceleration") s'est avéré capable d'un contrôle de trajectoire plus précis, particulièrement en termes d'erreurs liées à l'orientation, que le contrôleur découplé classique qui traitait séparément les points de consigne en position et en orientation et ignorait l'effet de la rotation sur le mouvement de translation. De plus, cela a également permis de réduire les oscillations de la commande du couple des articulations lorsque le contrôleur a été implémenté pour le contrôle de l'un des bras du robot bi-bras Baxter.Enfin, un cadre complet pour la coordination des systèmes robotiques bi-bras a été proposé avec l'ajout d'un planificateur de tâches coopératives. La simplicité du torseur cinématique a également été exploitée pour la génération de trajectoires généralisées du second ordre pour des tâches nécessitant un mouvement simplifié, comme la translation, la rotation et la torsion autour d'un axe hélicoïdale arbitraire donné dans un repère connu. La méthode de génération de trajectoires a été étendue pour représenter les contraintes liées aux tâches impliquant un contact entre les objets en utilisant le concept de mécanisme virtuel
The classical approach for dual-arm cooperative task space control was revisited and the symmetric formulation of dual arm coordination using virtual sticks was implemented using screw-based kinematics with dual quaternion representation. The proposed coupled control of cooperative task space, i.e. simultaneous control of both position and orientation setpoints of relative and absolute task space was compared against the performance of a proportional decoupled controller treating position and orientation error separately. The coupled controller demonstrated better tracking of pose and orientation in terms of accuracy and stability compared to the decoupled controller for tasks requiring faster operation in the relative task space of dual-arm manipulators.The cooperative task space modelling and control approach using screw-based kinematics and dual quaternions were extended for the cooperation modelling of the fingers of an anthropomorphic robotic hand. Additionally, the coupling of joints in the underactuated fingers of the robotic hand was represented with a coupled finger Jacobian. The coupled Jacobian of the robotic finger was used for inverse kinematic control, while allowing easy integration with a robotic arm.The idea of coupled treatment of position and orientation variables was capitalized further with the design of a second-order trajectory tracker using dual quaternions. The trajectory controller hence designed was capable of tracking pose, velocity and acceleration setpoints for the end-effector using inverse dynamic model of the robot. The coupled resolved rate acceleration controller was found to be capable of tighter trajectory control, specially for error terms related to orientation, compared to the conventional decoupled controller that treated the position and orientation setpoints separately and ignored the inherent effect of rotation on translational motion. Additionally, it also led to lower oscillations in the joint torque command when implemented for the control of one of the arms of Baxter dual-arm robot.Finally, a complete framework for the coordination of bi-arm robotic systems was proposed with the addition of a cooperative task planner. The simplicity of screw theory was exploited additionally for parametrized generation of generalized second order trajectories for tasks requiring simplified motion, like translation, rotation and screw motion around an arbitrary 6D screw-axis given in a known reference frame. The trajectory generation method was extended to represent the constraints related to tasks involving contact between objects using the concept of virtual mechanism
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Parida, Pramod Kumar. "Kinematic Analysis of Multi-Fingered, Anthropomorphic Robotic Hands." Thesis, 2013. http://ethesis.nitrkl.ac.in/5471/1/Pramod_Kumar_Parida.pdf.

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The ability of stable grasping and fine manipulation with the multi-fingered robot hand with required precision and dexterity is playing an increasingly important role in the applications like service robots, rehabilitation, humanoid robots, entertainment robots, industries etc.. A number of multi-fingered robotic hands have been developed by various researchers in the past. The distinct advantages of a multi-fingered robot hand having structural similarity with human hand motivate the need for an anthropomorphic robot hand. Such a hand provides a promising base for supplanting human hand in execution of tedious, complicated and dangerous tasks, especially in situations such as manufacturing, space, undersea etc. These can also be used in orthopaedic rehabilitation of humans for improving the quality of the life of people having orthopedically and neurological disabilities. The developments so far are mostly driven by the application requirements. There are a number of bottlenecks with industrial grippers as regards to the stability of grasping objects of irregular geometries or complex manipulation operations. A multi-fingered robot hand can be made to mimic the movements of a human hand. The present piece of research work attempts to conceptualize and design a multi-fingered, anthropomorphic robot hand by structurally imitating the human hand. In the beginning, a brief idea about the history, types of robotic hands and application of multi-fingered hands in various fields are presented. A review of literature based on different aspects of the multi-fingered hand like structure, control, optimization, gasping etc. is made. Some of the important and more relevant literatures are elaborately discussed and a brief analysis is made on the outcomes and shortfalls with respect to multi-fingered hands. Based on the analysis of the review of literature, the research work aims at developing an improved anthropomorphic robot hand model in which apart from the four fingers and a thumb, the palm arch effect of human hand is also considered to increase its dexterity. A robotic hand with five anthropomorphic fingers including the thumb and palm arch effect having 25 degrees-of-freedom in all is investigated in the present work. Each individual finger is considered as an open loop kinematic chain and each finger segment is considered as a link of the manipulator. The wrist of the hand is considered as a fixed point. The kinematic analyses of the model for both forward kinematics and inverse kinematic are carried out. The trajectories of the tip positions of the thumb and the fingers with respect to local coordinate system are determined and plotted. This gives the extreme position of the fingertips which is obtained from the forward kinematic solution with the help of MATLAB. Similarly, varying all the joint iv angles of the thumb and fingers in their respective ranges, the reachable workspace of the hand model is obtained. Adaptive Neuro-Fuzzy Inference System (ANFIS) is used for solving the inverse kinematic problem of the fingers. Since the multi-fingered hand grasps the object mainly through its fingertips and the manipulation of the object is facilitated by the fingers due to their dexterity, the grasp is considered to be force-closure grasp. The grasping theory and different types of contacts between the fingertip and object are presented and the conditions for stable and equilibrium grasp are elaborately discussed. The proposed hand model is simulated to grasp five different shaped objects with equal base dimension and height. The forces applied on the fingertip during grasping are calculated. The hand model is also analysed using ANSYS to evaluate the stresses being developed at various points in the thumb and fingers. This analysis was made for the hand considering two different hand materials i.e. aluminium alloy and structural steel. The solution obtained from the forward kinematic analysis of the hand determines the maximum size for differently shaped objects while the solution to the inverse kinematic problem indicates the configurations of the thumb and the fingers inside the workspace of the hand. The solutions are predicted in which all joint angles are within their respective ranges. The results of the stress analysis of the hand model show that the structure of the fingers and the hand as a whole is capable of handling the selected objects. The robot hand under investigation can be realized and can be a very useful tool for many critical areas such as fine manipulation of objects, combating orthopaedic or neurological impediments, service robotics, entertainment robotics etc. The dissertation concludes with a summary of the contribution and the scope of further work.
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"Closed-form Inverse Kinematic Solution for Anthropomorphic Motion in Redundant Robot Arms." Master's thesis, 2013. http://hdl.handle.net/2286/R.I.20979.

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abstract: As robots are increasingly migrating out of factories and research laboratories and into our everyday lives, they should move and act in environments designed for humans. For this reason, the need of anthropomorphic movements is of utmost importance. The objective of this thesis is to solve the inverse kinematics problem of redundant robot arms that results to anthropomorphic configurations. The swivel angle of the elbow was used as a human arm motion parameter for the robot arm to mimic. The swivel angle is defined as the rotation angle of the plane defined by the upper and lower arm around a virtual axis that connects the shoulder and wrist joints. Using kinematic data recorded from human subjects during every-day life tasks, the linear sensorimotor transformation model was validated and used to estimate the swivel angle, given the desired end-effector position. Defining the desired swivel angle simplifies the kinematic redundancy of the robot arm. The proposed method was tested with an anthropomorphic redundant robot arm and the computed motion profiles were compared to the ones of the human subjects. This thesis shows that the method computes anthropomorphic configurations for the robot arm, even if the robot arm has different link lengths than the human arm and starts its motion at random configurations.
Dissertation/Thesis
M.S.Tech Mechanical Engineering 2013
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Book chapters on the topic "Anthropomorphic kinematics"

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Bongardt, B. "Inverse Kinematics of Anthropomorphic Arms Yielding Eight Coinciding Circles." In Computational Kinematics, 525–34. Cham: Springer International Publishing, 2017. http://dx.doi.org/10.1007/978-3-319-60867-9_60.

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Brisan, Cornel, and Manfred Hiller. "Particular Aspects in Designing Anthropomorphic Mechanisms." In Advances in Robot Kinematics, 99–106. Dordrecht: Springer Netherlands, 2002. http://dx.doi.org/10.1007/978-94-017-0657-5_11.

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Lenarčič, J. "The Self Motion of an Anthropomorphic Manipulator." In Advances in Robot Kinematics: Analysis and Control, 571–78. Dordrecht: Springer Netherlands, 1998. http://dx.doi.org/10.1007/978-94-015-9064-8_58.

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Kecskeméthy, A. "A Spatial Leg Mechanism With Anthropomorphic Properties for Ambulatory Robots." In Advances in Robot Kinematics and Computational Geometry, 161–70. Dordrecht: Springer Netherlands, 1994. http://dx.doi.org/10.1007/978-94-015-8348-0_16.

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Ghosh, Shramana, and Nina Patarinsky Robson. "Development of a One Degree of Freedom Mechanical Thumb Based on Anthropomorphic Tasks for Grasping Applications." In Advances in Robot Kinematics, 335–44. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-06698-1_35.

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Zaid, Amran Mohd, and M. Atif Yaqub. "UTHM HAND: Kinematics behind the Dexterous Anthropomorphic Robotic Hand." In Communications in Computer and Information Science, 119–27. Berlin, Heidelberg: Springer Berlin Heidelberg, 2012. http://dx.doi.org/10.1007/978-3-642-35197-6_13.

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Royer, L., C. Bidard, and C. Andriot. "Determination of Singularities and Self-Motion of a 7-dof Anthropomorphic Manipulator." In Advances in Robot Kinematics: Analysis and Control, 533–42. Dordrecht: Springer Netherlands, 1998. http://dx.doi.org/10.1007/978-94-015-9064-8_54.

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Berceanu, C., D. Tarnita, S. Dumitru, and D. Filip. "Forward and Inverse Kinematics Calculation for an Anthropomorphic Robotic Finger." In New Trends in Mechanism Science, 335–42. Dordrecht: Springer Netherlands, 2010. http://dx.doi.org/10.1007/978-90-481-9689-0_39.

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Cordella, F., L. Zollo, A. Salerno, E. Guglielmelli, and B. Siciliano. "Validation of a Power Grasping Algorithm for an Anthropomorphic Robotic Hand on the Basis of Human Grasping Action." In Latest Advances in Robot Kinematics, 91–98. Dordrecht: Springer Netherlands, 2012. http://dx.doi.org/10.1007/978-94-007-4620-6_12.

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Peng, Shang-xian, and Gang Wang. "A Method for Solving the Inverse Problem of Kinematics of Anthropomorphic Manipulators with Spherical Wrist." In RoManSy 6, 164–68. Boston, MA: Springer US, 1987. http://dx.doi.org/10.1007/978-1-4684-6915-8_16.

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Conference papers on the topic "Anthropomorphic kinematics"

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Simo-Serra, Edgar, Francesc Moreno-Noguer, and Alba Perez-Gracia. "Design of Non-Anthropomorphic Robotic Hands for Anthropomorphic Tasks." In ASME 2011 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2011. http://dx.doi.org/10.1115/detc2011-47818.

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In this paper, we explore the idea of designing non-anthropomorphic multi-fingered robotic hands for tasks that replicate the motion of the human hand. Taking as input data a finite set of rigid-body positions for the five fingertips, we develop a method to perform dimensional synthesis for a kinematic chain with a tree structure, with five branches that share three common joints. We state the forward kinematics equations of relative displacements for each serial chain expressed as dual quaternions, and solve for up to five chains simultaneously to reach a number of positions along the hand trajectory. This is done using a hybrid global numerical solver that integrates a genetic algorithm and a Levenberg-Marquardt local optimizer. Although the number of candidate solutions in this problem is very high, the use of the genetic algorithm allows us to perform an exhaustive exploration of the solution space to obtain a set of solutions. We can then choose some of the solutions based on the specific task to perform. Note that these designs match the task exactly while generally having a finger design radically different from that of the human hand.
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Chen, Weihai, Quanzhu Chen, Jianbin Zhang, and Shouqian Yu. "Kinematics Control for a 7-DOF Cable-Driven Anthropomorphic Arm." In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE, 2006. http://dx.doi.org/10.1109/iros.2006.282119.

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Bensalah, Choukri, Mohamed Abderrahim, and Juan Gonzalez Gomez. "A new finger inverse kinematics method for an anthropomorphic hand." In 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO). IEEE, 2011. http://dx.doi.org/10.1109/robio.2011.6181470.

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Williams, Robert L. "DARwIn-OP Humanoid Robot Kinematics." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70265.

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This paper presents kinematics analysis for the DARwIn-OP (Dynamic Anthropomorphic Robot with Intelligence – Open-Platform) robot. This is a 20-dof humanoid walking robot developed by Virginia Tech, Purdue, and the University of Pennsylvania and marketed by Robotis Inc. The robot version analyzed in this paper is 455 mm tall and has a mass of 2.8 kg. Ohio University has two of these units for robot applications research and teaching. Presented are a description of DARwIn-OP, the Denavit-Hartenberg Parameters for each serial chain (2-dof head pan/tilt, 3-dof arms, and 6-dof legs), specific length parameters, joint angle limits, plus forward pose kinematics equations and partial inverse pose kinematics solutions, with examples.
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Hubert, Uwe, Jorg Stuckler, and Sven Behnke. "Bayesian calibration of the hand-eye kinematics of an anthropomorphic robot." In 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012). IEEE, 2012. http://dx.doi.org/10.1109/humanoids.2012.6651584.

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Bojun Li and Ling Huang. "Kinematics simulation of the anthropomorphic manipulator based on Pro/E and ADAMS." In 2013 2nd International Conference on Measurement, Information and Control (ICMIC). IEEE, 2013. http://dx.doi.org/10.1109/mic.2013.6758148.

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Cataldi, E., F. Real, A. Suarez, P. A. Di Lillo, F. Pierri, G. Antonelli, F. Caccavale, G. Heredia, and A. Ollero. "Set-based Inverse Kinematics Control of an Anthropomorphic Dual Arm Aerial Manipulator." In 2019 International Conference on Robotics and Automation (ICRA). IEEE, 2019. http://dx.doi.org/10.1109/icra.2019.8793470.

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Nguyen, Dinh Quan, Sébastien Briot, and Philippe Wenger. "Analysis of the Dynamic Performance of Serial 3R Orthogonal Manipulators." In ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/esda2012-82208.

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Serial 3R orthogonal manipulators have been studied recently and it has been proved that they can exhibit good performances in term of workspace size and kinematic properties. The aim of this work is to analyze their dynamic performances, and compare them with anthropomorphic manipulators, which are very popular in industry. Static and dynamic analyses based on the evaluation of the maximal input torques required for moving the manipulator are achieved. It is shown that, as in kinematics, the dynamic performances of the serial 3R orthogonal manipulators are better.
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Bensalah, Choukri, Javier Gonzalez-Quijano, Norman Hendrich, and Mohamed Abderrahim. "Anthropomorphic robotics hand inverse kinematics using estimated SVD in an extended SDLS approach." In 2013 16th International Conference on Advanced Robotics (ICAR 2013). IEEE, 2013. http://dx.doi.org/10.1109/icar.2013.6766595.

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Zhou, Jianshu, Yonghua Chen, Dickson Chun Fung Li, Yuan Gao, Yunquan Li, Shing Shin Cheng, Fei Chen, and Yunhui Liu. "50 Benchmarks for Anthropomorphic Hand Function-based Dexterity Classification and Kinematics-based Hand Design." In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE, 2020. http://dx.doi.org/10.1109/iros45743.2020.9340982.

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