Dissertations / Theses on the topic 'Robotics hand'
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Bullock, Ian Merrill. "Understanding Human Hand Functionality| Classification, Whole-Hand Usage, and Precision Manipulation." Thesis, Yale University, 2017. http://pqdtopen.proquest.com/#viewpdf?dispub=10584937.
Full textA better understanding of human hand functionality can help improve robotic and prosthetic hand capability, as well as having benefits for rehabilitation or device design. While the human hand has been studied extensively in various fields, fewer existing works study the human hand within frameworks which can be easily applied to robotic applications, or attempt to quantify complex human hand functionality in real-world environments or with tasks approaching real-world complexity. This dissertation presents a study of human hand functionality from the multiple angles of high level classification methods, whole-hand grasp usage, and precision manipulation, where a small object is repositioned in the fingertips.
Our manipulation classification work presents a motion-centric scheme which can be applied to any human or hand-based robotic manipulation task. Most previous classifications are domain specific and cannot easily be applied to both robotic and human tasks, or can only be applied to a certain subset of manipulation tasks. We present a number of criteria which can be used to describe manipulation tasks and understand differences in the hand functionality used. These criteria are then applied to a number of real world example tasks, including a description of how the classification state can change over time during a dynamic manipulation task.
Next, our study of real-world grasping contributes to an understanding of whole-hand usage. Using head mounted camera video from two housekeepers and two machinists, we analyze the grasps used in their natural work environments. By tagging both grasp state and objects involved, we can measure the prevalence of each grasp and also understand how the grasp is typically used. We then use the grasp-object relationships to select small sets of versatile grasps which can still handle a wide variety of objects, which are promising candidates for implementation in robotic or prosthetic manipulators.
Following the discussion of overall hand shapes, we then present a study of precision manipulation, or how people reposition small objects in the fingertips. Little prior work was found which experimentally measures human capabilities with a full multi-finger precision manipulation task. Our work reports the size and shape for the precision manipulation workspace, and finds that the overall workspace is small, but also has a certain axis along which more object movement is possible. We then show the effect of object size and the number of fingers used on the resulting workspace volume – an ideal object size range is determined, and it is shown that adding additional fingers will reduce workspace volume, likely due to the additional kinematic constraints. Using similar methods to our main precision manipulation investigation, but with a spherical object rolled in the fingertips, we also report the overall fingertip surface usage for two- and three-fingered manipulation, and show a shift in typical fingertip area used between the two and three finger cases.
The experimental precision manipulation data is then used to refine the design of an anthropomorphic precision manipulator. The human precision manipulation workspace is used to select suitable spring ratios for the robotic fingers, and the resulting hand is shown to achieve about half of the average human workspace, despite using only three actuators.
Overall, we investigate multiple aspects of human hand function, as well as constructing a new framework for analyzing human and robotic manipulation. This work contributes to an improved understanding of human grasp usage in real-world environments, as well as human precision manipulation workspace. We provide a demonstration of how some of the studied aspects of human hand function can be applied to anthropomorphic manipulator design, but we anticipate that the results will also be of interest in other fields, such as by helping to design devices matched to hand capabilities and typical usage, or providing inspiration for future methods to rehabilitate hand function.
Ziesmer, Jacob Ames. "Reconfigurable End Effector Allowing For In-Hand Manipulation Without Finger Gaiting Or Regrasping." [Milwaukee, Wis.] : e-Publications@Marquette, 2009. http://epublications.marquette.edu/theses_open/2.
Full textAlshahid, Kuteiba. "Computer modelling of the human hand." Thesis, University of Sussex, 1990. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.316650.
Full textOlson, Stephanie T. "Human-Inspired Robotic Hand-Eye Coordination." Thesis, Florida Atlantic University, 2018. http://pqdtopen.proquest.com/#viewpdf?dispub=10928904.
Full textMy thesis covers the design and fabrication of novel humanoid robotic eyes and the process of interfacing them with the industry robot, Baxter. The mechanism can reach a maximum saccade velocity comparable to that of human eyes. Unlike current robotic eye designs, these eyes have independent left-right and up-down gaze movements achieved using a servo and DC motor, respectively. A potentiometer and rotary encoder enable closed-loop control. An Arduino board and motor driver control the assembly. The motor requires a 12V power source, and all other components are powered through the Arduino from a PC.
Hand-eye coordination research influenced how the eyes were programmed to move relative to Baxter’s grippers. Different modes were coded to adjust eye movement based on the durability of what Baxter is handling. Tests were performed on a component level as well as on the full assembly to prove functionality.
Vin, Jerry. "ROBOTIC FINGERSPELLING HAND FOR THE DEAF-BLIND." DigitalCommons@CalPoly, 2013. https://digitalcommons.calpoly.edu/theses/1100.
Full textGoettsch, Ulix. "Basis functions for use in direct calibration techniques to determine part-in-hand location /." Thesis, Connect to this title online; UW restricted, 2001. http://hdl.handle.net/1773/7147.
Full textAl-Gallaf, Ebrahim Abdulla. "Task space robot hand manipulation and optimal distribution of fingertip force functions." Thesis, University of Reading, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.387046.
Full textChristian, Matthew. "Improving Motor Skills of a Smart Prosthetic Hand by Deep Learning." Thesis, Tennessee State University, 2019. http://pqdtopen.proquest.com/#viewpdf?dispub=10979821.
Full textMedical science has made it possible to use prosthetic devices to restore the basic abilities needed to function in everyday life. Although robotic prosthetic hands can improve mobility over a simple hook prosthetic, the current state-of-the-art devices are still limited in their ability to grasp and hold objects as quickly and as accurately as the natural human hand. This project trains a deep learning neural network to control a robotic prosthetic hand in performing a grasping task.
Pretlove, John. "Stereoscopic eye-in-hand active machine vision for real-time adaptive robot arm guidance." Thesis, University of Surrey, 1993. http://epubs.surrey.ac.uk/843230/.
Full textRay, Zachary J. "Hand Orientation Feedback for Grasped Object Slip Prevention with a Prosthetic Hand." University of Akron / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=akron1461181998.
Full textRowe, Justin Bradley. "Evaluating robotic assistance and developing a wearable hand activity monitor to improve upper extremity movement recovery after stroke." Thesis, University of California, Irvine, 2015. http://pqdtopen.proquest.com/#viewpdf?dispub=3727453.
Full textIn their daily lives, stroke survivors must often choose between attempting upper-extremity activities using their impaired limb, or compensating with their less impaired limb. Choosing their impaired limb can be difficult and discouraging, but might elicit beneficial neuroplasticity that further reduces motor impairments, a phenomenon referred to as “the virtuous cycle”. In contrast, compensation is often quicker, easier, and more effective, but can reinforce maladaptive changes that limit motor recovery, a phenomenon referred to as “learned non-use”. This dissertation evaluated the role of robotic assistance in, and designed a wearable sensing system for, promoting the virtuous cycle.
In the first half of the dissertation, we use the FINGER robot to test the hypothesis that robotic assistance during clinical movement training triggers the virtual cycle. FINGER consists of two singly-actuated mechanisms that assist individuated movement of the index and middle fingers. 30 chronic stroke participants trained in FINGER using a GuitarHero-like game for nine sessions. Half were guided by an adaptive impedance controller towards a success rate of 85%, while the other half were guided towards 50%. Increasing assistance to enable successful practice decreased effort, but primarily for less-impaired participants. Overall, however, high success practice was as effective (or more) as low success practice and even more effective for highly impaired individuals. Participants who received high assistance training were more motivated and reported using their impaired hand more at home. These results support the hypothesis that high assistance clinical movement training motivates impaired hand use, leading to greater use of the hand in daily life, resulting in a self-training effect that reduces motor impairment.
The second half of the dissertation describes the development of the manumeter - a non-obtrusive wearable device for monitoring and incentivizing impaired hand use. Contrasted against wrist accelerometry (the most comparable technology), the manumeter uses a magnetic ring and a wristband with mangetometers to detect wrist and finger movement rather than gross arm movement. We describe 1) the inference of wrist and finger movement from differential magnetometer readings using a radial basis function network, 2) initial testing in which distance traveled estimates were within 94.7%±19.3 of their goniometricly measured values, 3) experiments with non-impaired participants in which the manumeter detected some functional activities better than wrist accelerometry, and 4) improvements to the hardware and data processing that allow both subject-independent tracking of the position of the finger relative to the wrist (RMS errors < 1cm) and highly reliable detection of whether the hand is open or closed. Its performance and non-obtrusive design make the manumeter well suited for measuring and reinforcing impaired hand use in daily life after stroke.
The contributions of this dissertation are experimental confirmation that high assistance movement training promotes the virtuous cycle, and development of a wearable sensor for monitoring hand movement in daily life. Training with robotic assistance and hand use feedback may ultimately help individuals with stroke recover to their full potential.
Price, Aaron David. "Biologically inspired dexterous robot hand actuated by smart material based artificial muscles." Thesis, University of Ottawa (Canada), 2006. http://hdl.handle.net/10393/27409.
Full textCarey, Alan John. "An Unpowered Exoskeleton to Reduce Astronaut Hand Fatigue during Microgravity EVA." Thesis, University of California, Davis, 2016. http://pqdtopen.proquest.com/#viewpdf?dispub=10165880.
Full textAstronaut hand fatigue during Extravehicular Activity (EVA) and EVA training is a critical risk in human space exploration. Improved glove designs over the past forty years have reduced hand fatigue, but limitations of the technology prevent major improvements to reduce hand fatigue. Therefore, a mechanism to assist astronauts by reducing hand fatigue was explored. Many organizations have already developed exoskeletons to assist astronauts, but all mechanisms developed required electrically powered actuators and control systems to enhance grip strength. However, astronauts already possess the strength required to actuate the glove; what is needed is a method to reduce fatigue without introducing electromechanical complexity. A passive mechanical system was developed as a proof-of-concept to test the feasibility of an unpowered exoskeleton to maintain static grip around an object. The semi- rigid nature of an inflated pressure glove provided an ideal substrate to mount a mechanism and associated components to allow an astronaut to release his/her grip inside the glove while maintaining attitude, as the mechanism will keep the glove closed around an object.
Three prototypes were fabricated and tested to evaluate the architecture. The final two prototypes were tested on a real pressure suit glove at Final Frontier Design (FFD), and the third mechanism demonstrated attachment and basic operating principles. At University of California (UC) Davis, pressure glove analogs were fabricated from a baseball batting glove and polystyrene to simulate a real pressure glove without the risk of testing in a reduced pressure environment (i.e. a glove box). Testing of the third prototype showed a reduction in fatigue as measured by Maximum Voluntary Contraction (MVC) grip force over a 30 second period when the mechanism assisted gripping an object.
Forsberg, Axel. "A Wavelet-Based Surface Electromyogram Feature Extraction for Hand Gesture Recognition." Thesis, Mälardalens högskola, Akademin för innovation, design och teknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-39766.
Full textHasan, Md Rakibul. "Modelling and interactional control of a multi-fingered robotic hand for grasping and manipulation." Thesis, Queen Mary, University of London, 2014. http://qmro.qmul.ac.uk/xmlui/handle/123456789/8941.
Full textRefour, Eric Montez. "Design and Integration of a Form-Fitting General Purpose Robotic Hand Exoskeleton." Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/89647.
Full textMS
Neninger, Carlos Rafael. "Robotic Hand Evaluation Based on Task Specific Kinematic Requirements." Scholar Commons, 2011. http://scholarcommons.usf.edu/etd/3262.
Full textRubiano, Fonseca Astrid. "Smart control of a soft robotic hand prosthesis." Thesis, Paris 10, 2016. http://www.theses.fr/2016PA100189/document.
Full textThe target of this thesis disertation is to develop a new Smart control of a soft robotic hand prosthesis for the soft robotic hand prosthesis called ProMain Hand, which is characterized by:(i) flexible interaction with grasped object, (ii) and friendly-intuitive interaction between human and robot hand. Flexible interaction results from the synergies between rigid bodies and soft bodies, and actuation mechanism. The ProMain hand has three fingers, each one is equipped with three phalanges: proximal, medial and distal. The proximal and medial are built with rigid bodies,and the distal is fabricated using a deformable material. The soft distal phalange has a new smart force sensor, which was created with the aim to detect contact and force in the fingertip, facilitating the control of the hand. The friendly intuitive human-hand interaction is developed to facilitate the hand utilization. The human-hand interaction is driven by a controller that uses the superficial electromyographic signals measured in the forearm employing a wearable device. The wearable device called MyoArmband is placed around the forearm near the elbow joint. Based on the signals transmitted by the wearable device, the beginning of the movement is automatically detected, analyzing entropy behavior of the EMG signals through artificial intelligence. Then, three selected grasping gesture are recognized with the following methodology: (i) learning patients entropy patterns from electromyographic signals captured during the execution of selected grasping gesture, (ii) performing a support vector machine classifier, using raw entropy data extracted in real time from electromyographic signals
Bello, Nicholas G. "A Study of the Accuracy of a Prototype Computer Numerical Control Dental Hand-piece Compared to Manual Preparation for a Full Coverage Crown Preparation." Thesis, Tufts University School of Dental Medicine, 2016. http://pqdtopen.proquest.com/#viewpdf?dispub=10151539.
Full textAims and Hypothesis: The objective of this study was the design and testing of a Prototype Computer Numerical Control (CNC) dental handpiece. We predicted that the CNC Prototype would be more accurate than the human participant prosthodontists in clinical simulation.
Materials and Methods: A Prototype CNC dental handpiece was developed from off the shelf components, assigned 100 typodont teeth (#18) for submission and 10 practice teeth. Single operator. Five prosthodontists, given 20 typodont teeth (#18) for submission and 10 for practice. Finished preparations were scanned with 3M True Definition® intraoral scanner outside of typodont, compared with Geomagic Control for RMSE.
Results: RMSE Prototype (N=100) was 0.40mm. RMSE Prosthodontists (N=100) was 0.55mm. One sided T test, mean difference −.15mm (p<.001, one sided CI −.09). One Way ANOVA (F stat <1, F=.526, p=.717), Spearman correlation Prototype RMSE vs order(ρ=.1, p=.334), RMSE vs Bur (ρ=.36, p<.001); For each prosthodontist individually (N=20) RMSE vs Order Prosthodontist 4(ρ=−.54, p= .015). Prosthodontist 5 (ρ= .58, p = .022). Prosthodontist 3 (ρ=.16, p=.498), Prosthodontist 2 (ρ=−.07, p=.772), and Prosthodontist 1 (ρ=−.08, p=.741) Spearman correlation (N=20) RMSE vs Bur Prosthodontist 5 (ρ= .51, p = .007), Prosthodontist 2 (ρ=.46, p= .040), Prosthodontist 4 (ρ=−.07, p=.758), Prosthodontist 3 (ρ=.18, p=.445), and Prosthodontist 1 (ρ=.43, p=.059)
Conclusion: CNC Prototype achieved superior results in clinical simulation, attained on a modest budget with a modest level of research support. Work should continue on the next iteration of a prototype to address some of the limitations of movement, feedback, and emotional acceptance of a machine performing treatment from the perspective of a patient.
Fernandez, Fernandez Miguel. "Hand-eye calibration in the context of Augmented Reality." Thesis, Mälardalens högskola, Akademin för utbildning, kultur och kommunikation, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:mdh:diva-56087.
Full textSamant, Chinmay. "Ultrasound laparoscopic guidance for minimally invasive surgery, biopsy, and ablation procedures." Thesis, Strasbourg, 2019. http://www.theses.fr/2019STRAD054.
Full textMinimally invasive image-guided laparoscopic surgery allows shorter hospital stays for the patient reducing post-operative trauma and faster healing time. With the recent advances in imaging techniques, surgeons can efficiently and confidently plan a surgery by using different image modalities such as CT/MRI scans, ultrasound images etc. Real-time image fusion techniques can overlay the images from different modalities together to provide a comprehensive view to the surgeon. An important aspect of real-time fusion is that the laparoscopic instrument is tracked in real-time using sensors. In this thesis, we present a detailed analysis of such tracking technologies while providing a novel sensor setup for ultrasound laparoscope image tracking. We present a kinematic chain for the sensor setup and provide a solution for noise reduction in the sensor data using rotation averaging technique. Hand-Eye calibration is also a fundamental part of hybrid tracking systems. We present a detailed review of this technique. We also present a deterministic, robust and accurate method for solving Hand-Eye calibration problem even for large amounts of outliers and high levels of measurement noise. The proposed method is based on a reformulation of a rank-constrained semi-definite programming problem allowing for robustness to be enforced via an iteratively re-weighted optimization approach
Ramirez, Arias José Luis. "Development of an artificial muscle for a soft robotic hand prosthesis." Thesis, Paris 10, 2016. http://www.theses.fr/2016PA100190/document.
Full textIn the field of robotic hand prosthesis, the use of smart and soft materials is helpful in improving flexibility, usability, and adaptability of the robots, which simplify daily living activities of prosthesis users. However, regarding the smart materials for artificial muscles, technologies are considered to be far from implementation in anthropomorphic robotic hands. Therefore, the target of this thesis dissertation is to reduce the gap between smart material technologies and robotic hand prosthesis. Five central axes address the problem: i)identification of useful grasping gestures and reformulation of the robotic hand mechanism, ii) analysis of human muscle behavior to mimic human grasping capabilities, iii) modeling robot using the hybrid model DHKK-SRQ for the kinematics and the virtual works principle for dynamics, iv) definition of actuation requirements considering the synergy between prehension conditions and robot mechanism, and v) development of a smart material based actuation system.This topics are addressed in four chapters:1. Human hand movement analysis toward the hand prosthesis requirements2. Design and modeling of the soft robotic hand ProMain-I3. Mechatronic assessment of Prosthetic hand4. Development of an artificial muscle based on smart materials
MELCHIORRE, MATTEO. "Real-time trajectory planning for human-friendly collaborative robotics." Doctoral thesis, Politecnico di Torino, 2021. http://hdl.handle.net/11583/2932747.
Full textKarnati, Nareen. "Bioinspired Sinusoidal Finger Joint Synergies for a Dexterous Robotic Hand to Screw and Unscrew Objects." University of Akron / OhioLINK, 2012. http://rave.ohiolink.edu/etdc/view?acc_num=akron1342458391.
Full textPersson, Lucas, and Sebastian Markström. "Indoor localization of hand-held Shopping Scanners." Thesis, KTH, Data- och elektroteknik, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-208931.
Full textDenna avhandling undersöker tillämpliga inomhusnavigationssystem för nästa generations handhållna shopping terminaler, på uppdrag av företaget Virtual Stores. Avhandlingen undersöker och granskar tillämpliga inomhuslokaliseringsmetoder och sätt att kombinera och utvärdera mottagna lokaliseringsdata för att bistå med ackurat navigering utan att introducera någon ytterligare utrustning för en potentiell användare. Prototypnavigationssystem föreslogs, utvecklades och utvärderades användandes en kombination av väl utplacerade radiosändare användandes Bluetooth eller UltraWide Band (UWB) och tröghetssensorer i kombination med ett partikelfilter. Bluetooth-lösningen ansågs oförmögen att tillhandahålla någon exakt lokalisering medan prototypen som använde en kombination av UWB och tröghetssensorer visade sig vara en lovande lösnings med under 1m genomsnittligt fel under optimala förhållanden eller 2,0m genomsnittligt lokaliseringsfel i mer realistisk miljö. Systemet kräver emellertid att det undersökta området tillhandahåller 3 eller fler UWB-sändare inom synfältet för UWB-mottagaren hos användaren vid varje plats och riktning för att tillhandahålla ackurat lokalisering. Prototypen behöver skalas upp för att kunna bistå med lokalisering till mer än 1 radiomottagare innan den introduceras till detaljhandlen.
SCIMMI, LEONARDO SABATINO. "Development of a methodology for the human-robot interaction based on vision systems for collaborative robotics." Doctoral thesis, Politecnico di Torino, 2020. http://hdl.handle.net/11583/2844166.
Full textSheerer, Corey D. "A Hand-Held Device for Controlling a Mounted, Motor-Driven Colonoscope." Ohio University / OhioLINK, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1418983633.
Full textIglesias, José. "A force control based strategy for extrinsic in-hand object manipulation through prehensile-pushing primitives." Thesis, KTH, Robotik, perception och lärande, RPL, 2017. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-220136.
Full textAtt greppa och manipulera objekt är en komplex uppgift för robotar. Det innebär ofta en kompromiss mellan hand och fingrars frihetsgrader (fingerfärdighet) mot reglersystemets kostnad och komplexitet. Extrinsic manipulation är en strategi för att öka fingerfärdigheten hos robothänder, och dess princip är att utnyttja accelerationer på objektet som orsakas av yttre krafter. Vi föreslår en metod baserad på att reglerakraft för hantering av objekt i handen, genom en återkoppling av kraftmomentet. För detta ändamål använder vi en prehensile pushing action, där objektet puttas mot en yta, under kvasistiska antaganden. Genom att använda en reglerstrategi får vi en robusthet mot parametrars osäkerhet (som friktion) och störningar, vilka inte beskrivs av systemets model. Kraftkontrollstrategin utförs på två olika sätt: kraften mellan objektet och den yttre ytan styrs med en admittance controller medan en ytterligare styrning av applicerad gripkraft på objektet görs med en PI-reglerare. Ett Kalman filter används för att estimera objektets tillstånd, baserat på mätningar av kraftmoment via en sensor vid robotens handled. Vi utvärderar vårt tillvägagångssätt genom att utföraexperiment på en PR2-robot vid KTHs Robotics, Perception och Learning Lab.
O-larnnithipong, Nonnarit. "Hand Motion Tracking System using Inertial Measurement Units and Infrared Cameras." FIU Digital Commons, 2018. https://digitalcommons.fiu.edu/etd/3905.
Full textAkyürek, Emre. "Remote-controlled ambidextrous robot hand actuated by pneumatic muscles : from feasibility study to design and control algorithms." Thesis, Brunel University, 2015. http://bura.brunel.ac.uk/handle/2438/11671.
Full textOzguner, Orhan. "VISUALLY GUIDED ROBOT CONTROL FOR AUTONOMOUS LOW-LEVEL SURGICAL MANIPULATION TASKS." Case Western Reserve University School of Graduate Studies / OhioLINK, 2020. http://rave.ohiolink.edu/etdc/view?acc_num=case1568138320331765.
Full textNycz, Christopher Julius. "Modeling & Analysis of Design Parameters for Portable Hand Orthoses to Assist Upper Motor Neuron Syndrome Impairments and Prototype Design." Digital WPI, 2018. https://digitalcommons.wpi.edu/etd-dissertations/501.
Full textStephanos, Dembe. "Machine Learning Approaches to Dribble Hand-off Action Classification with SportVU NBA Player Coordinate Data." Digital Commons @ East Tennessee State University, 2021. https://dc.etsu.edu/etd/3908.
Full textRomero, Javier. "From Human to Robot Grasping." Doctoral thesis, KTH, Datorseende och robotik, CVAP, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-49061.
Full textQC 20111125
Wirekoh, Jackson O. "Development of Soft Actuation Systems for Use in Human-Centered Applications." Research Showcase @ CMU, 2017. http://repository.cmu.edu/dissertations/1124.
Full textStillfried-Rattonitz, Georg Norbert Christoph Dominik von [Verfasser], Patrick van der [Akademischer Betreuer] Smagt, and Tamim [Akademischer Betreuer] Asfour. "Kinematic Modelling of the Human Hand for Robotics / Georg Norbert Christoph Dominik Graf von Stillfried-Rattonitz. Betreuer: Patrick van der Smagt. Gutachter: Patrick van der Smagt ; Tamim Asfour." München : Universitätsbibliothek der TU München, 2015. http://d-nb.info/1079692894/34.
Full textLam, Benny, and Jakob Nilsson. "Creating Good User Experience in a Hand-Gesture-Based Augmented Reality Game." Thesis, Linköpings universitet, Institutionen för datavetenskap, 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-156878.
Full textLeitner, Jürgen. "From vision to actions: Towards adaptive and autonomous humanoid robots." Thesis, Università della Svizzera Italiana, 2014. https://eprints.qut.edu.au/90178/2/2014INFO020.pdf.
Full textNagai, Kiyoshi. "Studies on Grasping and Manipulation by Robotic Multifingered Hands and Arm-Hand Systems." Kyoto University, 1995. http://hdl.handle.net/2433/160756.
Full textKyoto University (京都大学)
0048
新制・論文博士
博士(工学)
乙第8782号
論工博第2944号
新制||工||980(附属図書館)
UT51-95-B247
(主査)教授 吉川 恒夫, 教授 井上 紘一, 教授 島 進
学位規則第4条第2項該当
Monahan, Melissa A. "Scalability study for robotic hand platform /." Online version of thesis, 2010. http://hdl.handle.net/1850/12225.
Full textVásquez, Alex. "In-hand robotic tactile object recognition." Thesis, Paris 6, 2017. http://www.theses.fr/2017PA066619/document.
Full textRobotic anthropomorphic hands are mostly used to reproduce the human dexterity in manipulation. Beyond the mechanical and control challenges that this represents, perceptive knowledge of the environment with which the hand interacts is key to ensure that dexterity is achieved. In this sense, tactile object recognition has become an important asset for manipulation systems. Regardless of the advances in this domain, it continues to be a valid subject of research today. In this thesis, we propose a method to enable a robotic hand to quickly understand the geometrical nature of an object that has been handled by it. Aside from the static data obtained once the object has been fully grasped, the movements of the hand during the grasp execution will also be exploited. As a first contribution, we propose the proprioceptive shape signature. This descriptor, based solely on proprioceptive data, is invariant to the size and pose of the object within the hand and it contains information about the global shape of the object almost as soon as the grasp execution ends. As a second contribution, we propose a tool to extract information about the grasped object from the dynamic data generated during the grasp execution. For this, the movements of the fingers during the grasping process will be interpreted based on the grasp strategy. Finally, we present a method to perform sequential object shape identification based on a collection of random forests. This method allows to update the recognition model as new shapes are desired to be identified. Thus, the time-consuming process of training the model from scratch is avoided
Linder-Aronson, Philip, and Simon Stenberg. "Exo-Controlled Biomimetic Robotic Hand : A design solution for control of a robotic hand with an exoskeleton." Thesis, KTH, Mekatronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-295846.
Full textRobotarmar och händer finns många former och storlekar, de kan vara för allmänna ändamål eller uppgiftsspecifika. De kan programmeras av en dator eller styras av en mänsklig operatör. Det finns en viss typ av robothänder som försöker efterlikna formen, rörelsen och funktionen hos den mänskliga handen, och brukar kallas biomimetisk robotik. Detta projekt utforskar interaktionen mellan människa och robot genom att skapa en antropomorf robothand med tillhörande exoskelett. Handen, som består av en 3D-printad kropp och fingrar, är ansluten till en underarm där servormotorerna som styr fingrarna sitter. Exoskelettet ansluts till operatörens hand vilket möjliggör spårning av fingrarnas rörelse genom ett antal potentiometrar. Detta tillåter operatören att intuitivt styra en robothand med en viss grad av precision. Vi valde att besvara ett antal forskningsfrågor med avseende på form och funktion av en biomimetisk hand och exoskelettet. Under projektets gång påträffades en mängd problem såsom budgetproblem som resulterade i att bara hälften av fingrarna kan kontrolleras. Trots detta fick vi bra resultat från de fungerande fingrarna och våra forskningsfrågor kunde besvaras.
Vidal, Tabata. "Concepção de proteses mioeletricos de membros superiores baseado no estudo fisiologico." [s.n.], 2008. http://repositorio.unicamp.br/jspui/handle/REPOSIP/264737.
Full textDissertação (mestrado) - Universidade Estadual de Campinas, Faculdade de Engenharia Mecanica
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Resumo: O objetivo deste trabalho foi revisar na literatura os desenvolvimentos da aplicação das tecnologias envolvidas em automação dedicadas às próteses mioelétricas de membros superiores, desde os primeiros trabalhos implementados no período pós-Segunda Guerra Mundial até as soluções tecnológicas atualmente utilizadas. O conceito de prótese mioelétrica envolve a aquisição e tratamento do sinal mioelétrico de um membro residual que é usado para acionar um atuador que ativará a ferramenta terminal. Objetivando a elaboração de uma solução compatível e aplicável harmonicamente ao sistema orgânico, foram realizados estudos da anatomia, da fisiologia articular dos membros superiores, da natureza e características do sinal mioelétrico, além das tecnologias envolvidas para a concepção de protótipos mecatrônicos, tais como técnicas de CAD-CAE-CAM e a geração de circuitos eletrônicos dedicados à coleta e tratamento de sinais mioelétricos. Para validar o desenvolvimento teórico, três protótipos da ferramenta terminal foram confeccionados, sendo testados em nível de bancada
Abstract: The goal of this work was to review the specialized literature for the development of technological applications connected with automation of myoelectrical prosthesis of upper limbs throughout the years, from World War 2 post-war solutions to the technology currently applied. The concept of myoelectrical prosthesis presupposes implies the acquisition and treatment of the myoelectrical signal of a residual limb which is used to start an actuator, which in turn activates the terminal tool. Aiming at encountering a solution that could be both compatible and harmoniously applicable to the human body, the author engaged in studying anatomy, upper limbs articular physiology, the nature and characteristics of the myoelectrical signal in addition to the technologies utilized to conceive mechatronic prototypes, i.e. CAD-CAE-CAM and the creation of dedicated electronic circuits to collect and process the myoelectrical signals. To validate the theoretical foundation of this project, three prototypes of terminal tools were manufactured and bench-tested.
Mestrado
Mecanica dos Sólidos e Projeto Mecanico
Mestre em Engenharia Mecânica
Engström, Jesper, Elias Richloow, and Anders Wickström. "Modeling of Robotic Hand for Dynamic Simulation." Thesis, KTH, Maskinkonstruktion (Inst.), 2010. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-171991.
Full textKTHand är en robothand utformad inom en doktorsavhandling av Johan Tegin. KTHand är tänkt att vara en enkel konstruktion som ska kunna tillverkas för en låg kostnad samtidigt som den ska vara funktionell tack vare återkoppling av taktila givare och positionsgivare. KTHands mekaniska konstruktion är baserad på tre identiska fingrar, motsvarande pekfinger, långfinger och tumme. Varje finger är uppbyggt av tre rörliga länkar sammanfogade av en bladfjäder på ovansidan. Kraftstyrningen i ett finger utgörs av en fiskelina som löper genom hela fingret och får sin kraft av en likströmsmotor i handen. Detta ger ett finger med tre frihetsgrader aktuerat av en motor, alltså ett underaktuerat finger. För att utvärdera KTHand har simuleringar utförts i programmet GraspIt!. Dessa simuleringar har givit blandade resultat varför en önskan om simulering i annat program har uppkommit. MSC ADAMS är ett utbrett och välverifierat kommersiellt program som möjliggör avancerade fysikaliska flerkroppssimuleringar. ADAMS är dock ett tämligen oprövat program för just robothandssimulering och därför är det av intresse att utreda huruvida en robothands greppdynamik framgångsrikt kan simuleras i ADAMS och detta är ämnet som behandlas i den här rapporten. Sedan tidigare finns en utförlig CAD-modell av KTHand och denna har använts som utgångspunkt för modelluppbyggandet i ADAMS eftersom CAD-modeller kan importeras i detta program. För att bland annat minska komplexitetsnivån har den existerande CAD-modellen kraftigt förenklats på så vis att all, för ADAMS-modellen, onödig geometri som t.ex. skruvar och skruvhål har tagits bort. Vidare har även geometrin förenklats genom att kurviga kantlinjer har ersatts av raka dito. I ADAMS har leder och fjädrar definierats, rörelsetvång har införts genom att upprätta kontaktvillkor och kraftstyrning har lösts genom att införa krafter representerande de reaktionskrafter som uppkommer inne i fingrarna från den genomlöpande ”senan”. För att sedan simulera grepp har geometriska objekt skapats i ADAMS varefter kontaktvillkor definierats. Modellen kan användas för att simulera kontaktkrafter och hur handen interagerar med föremål av olika geometri. Slutsatsen av dessa simuleringar är att formbaserade grepp ger mer tillförlitliga resultat än friktionsbaserade grepp. Friktionsvilkoren i ADAMS har visat sig vara mindre tillförlitliga och på så sätt är de grepp som är starkt beroende av friktion ej verklighetstrogna.
Prieur, Urbain. "High-level planning of dexterous in-hand manipulation using a robotic hand." Paris 6, 2013. http://www.theses.fr/2013PA066788.
Full textJusqu’ici, les solutions apportées à la problématique de manipulation dextre robotique par une main anthropomorphe se concentraient sur la planification bas niveau des différents types de mouvements fins. Aussi, une solution complète de planification, prenant en compte l’étendue de ces différentes actions, reste à développer. Tel est le fondement de ce travail : pour une tache définie, caractérisée par des configurations initiale et finale, une séquence de configurations intermédiaires est générée : la totalité de l’activité complexe se trouve donc décomposée en une succession de transitions simples à planifier par le bas niveau. Afin de générer cette séquence, influencée par l’objet et la configuration finale, on utilise un processus de décision markovien (MDP). Les configurations intermédiaires sont représentées par des types de saisies tirés d’une taxonomie existante, les transitions sont formulées par des probabilités de succès : si ces approximations assurent la rapidité de l’algorithme, elles requièrent du bas niveau la planification des configurations complètes et le détail des transitions. En cas d’impossibilité d’exécution, des séquences alternatives peuvent être proposées. Le MDP doit connaître les capacités du robot à réaliser les transitions, par auto-apprentissage, ou par observation de mouvements humains. Nous utilisons un processus d’apprentissage actif initialisé par une estimation empirique des probabilités de succès des transitions. La solution a été implémentée avec succès sur un robot réel, prenant un rôle central dans la commande de la manipulation fine, jusqu'à propager l’influence de la tâche sur la saisie initiale
Mnyusiwalla, Hussein. "Qualité de prise dans le contexte de la planification de mouvements de préhension et de manipulation dextre en robotique." Thesis, Poitiers, 2016. http://www.theses.fr/2016POIT2271/document.
Full textThe work presented in this thesis concerns object grasping with dexterous robotic hands. In this work, we are going to focus on the grasp synthesis problem by taking into account the in-hand manipulation task. The initial grasp has a capital role for the successful completion of a given task.In order to develop algorithms which are able to generate automatically correct grasps for a manipulation task, we need to define suitable grasp quality metrics to assess the validity of a grasp. Throughout the years, a large variety of quality measures have been proposed in the literature and researchers keep on developing new ones. However those quality measures are generally developed for simple grippers and for grasping tasks. In this thesis, we will extend the study of selected interesting grasp quality measures for in-hand manipulation tasks. These quality measures will be evaluated on a four finger robotic hand with sixteen fully actuated degrees of freedom.We will assess the chosen quality measures for in-hand manipulation tasks with three different carefully selected type of objects. The quality metrics are classified in two groups, first one focuses exclusively on the location of contact points and the second one considers the kinematics of the robotic hand. The review of these quality measures led us to select the ones meaningful for solving the grasp synthesis problem for in-hand manipulation. The grasping pipeline implemented to generate the correct grasps is based on an evolutionary approach using a mix of the selected quality measures. The proposed approach was tested in the OpenRAVE robotic simulator and also validated experimentally with the new RoBioSS hand
Wikman, Sarah Jane. "Inter-fingercoordinated DC motor driven grasping robotic hand." Thesis, Massachusetts Institute of Technology, 2009. http://hdl.handle.net/1721.1/54542.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (p. 16).
Many robotic hands have individually driven joints, which is both energy inefficient and complicated to control. An alternative method includes employing only one motor to control multiple joints. Investigating humanoid hand movements used in everyday tasks, graduate students working with Professor Asada discovered through Principal Component Analysis that a majority of these motions can be approximated by a grasping motion. Implementing PCA results on a humanoid robotic hand yields an inter-finger coordinated motion in which each of the four fingers closes towards the palm and each individual joint's velocity is linearly proportional to the others. The coordination is achieved through a system of pulleys with different radii. The cables used in conjunction with these pulleys, emulating tendons, will be driven by a DC motor for simple control of a complex hand mechanism. The thumb is excluded from this system as it functions differently from the remaining digits.
by Sarah Jane Wikman.
S.B.
KAZI, MEHNAZ, and MICHELLE BILL. "Robotic Hand Controlled by Glove Using Wireless Communication." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2020. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-279812.
Full textIntresset för forskning och utveckling av humanoida robotarhar under de senaste åren varit på ständig uppfart. Applikationerna av sådana robotsystem är många och breda. Idetta kandidatarbete inom mekatronik konstruerades ettsådant robotsystem i formen av en hand. Syftet var att undersöka hur väl robothanden kunde imitera rörelserna av enanvändarburen kontrollerhandske samt hur väl den kundegreppa tag om objekt med hjälp av trådlös kommunikation. Kontrollerhanskens komponenter bestod av en Arduino Nano mikrokontroller, fem flex sensorer, en tröghetsmätenhet som mätte rotationen av handleden, en nRF24L01sändarenhet samt en extern kraftkälla på 9 volt. Robothanden bestod av tredimensionellt utskrivna delar från ettopen source bibliotek, en Arduino Uno mikrokontroller, ennRF24L01 mottagarenhet, två externa kraftkällor på 9 voltrespektive 5 volt samt sex stycken servomotorer. Varje enskild finger samt handled var kopplad till en servomotorvar. Robothanden kunde imitera kontrollhandskens rörelser med liten försening och kunde greppa tag om objekt avolika storlekar, utformningar samt vikter upp till 134 gram.Den konstruerade robothanden åstadkom de önskade målensom sattes för projektet. Resultaten indikerade att robothandens greppförmåga om föremål med styva ytor och dessimitation kan förbättras.
Seran, Onur. "Visually Guided Robotic Assembly." Master's thesis, METU, 2003. http://etd.lib.metu.edu.tr/upload/4/1223353/index.pdf.
Full textCantum, Cecilia G. "Planning and control for simulated robotic Sandia hand for the DARPA Robotic Challenge." Thesis, Massachusetts Institute of Technology, 2013. http://hdl.handle.net/1721.1/83686.
Full textCataloged from PDF version of thesis.
Includes bibliographical references (pages 32-33).
The DARPA Robotic Challenge (DRC) required the development of user interface, perception, and planning and control modules for a robotic humanoid. This paper focuses on the planning and control component for the manipulation qualification task of the virtual section of the DRC. Nonlinear algorithms were employed for the planning systems, such as the grasp optimization system and the robot state trajectory computation system. However, for closed-loop control, a linear proportional-derivative (PD) joint position controller was used. The nonlinear algorithms used for the planning systems may be improved, but their current functionality allows the successful completion of the manipulation qualification task. Also, even though PD controllers seem appropriate for the closed-loop control, PID controllers might yield a higher level of accuracy if tuned properly. In conclusion, a linear controller appears sufficient for certain control of the highly nonlinear ATLAS humanoid robot and Sandia hand as long as accurate optimization and planning systems complement such control.
by Cecilia G. Cantu.
S.B.