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1
Che, D., and W. Zhang. "Active gesture-changeable underactuated finger for humanoid robot hand based on multiple tendons." Mechanical Sciences 1, no. 1 (December 22, 2010): 27–32. http://dx.doi.org/10.5194/ms-1-27-2010.
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Abstract. The concept called gesture-changeable under-actuated (GCUA) function is utilized to improve the dexterities of traditional under-actuated hands and reduce the control difficulties of dexterous hands. Based on GCUA function, a novel mechanical finger by multiple tendons: GCUA-T finger, is designed. The finger uses tendon mechanisms to achieve GCUA function which includes traditional underactuated (UA) grasping motion and special pre-bending (PB, or pre-shaping) motion before UA grasping. Operation principles and force analyses of the fingers are given, and the effect of GCUA function on the movements of a hand is discussed. The finger can satisfy the requirements of grasping and operating with low dependence on control system and low cost on manufacturing expenses, which develops a new way between dexterous hand and traditional under-actuated hand. This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.
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Liu, Siyun, Wenzeng Zhang, and Jie Sun. "A coupled and indirectly self-adaptive under-actuated hand with double-linkage-slider mechanism." Industrial Robot: the international journal of robotics research and application 46, no. 5 (August 19, 2019): 660–71. http://dx.doi.org/10.1108/ir-12-2018-0247.
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Purpose Underactuated fingers are adapted to generate several grasping modes for different tasks, and coupled fingers and self-adaptive fingers are two important types of them. Aiming to expand the application and increase adaptability of robotic hand, this paper aims to propose a novel grasping model, called coupled and indirectly self-adaptive (CISA) grasping model, which is the combination of coupled finger and indirectly self-adaptive finger. Design/methodology/approach CISA grasping process includes two stages: first, coupled and then indirectly self-adaptive grasping; thus, it is not only integrated with the good pinching ability of coupled finger but also characterized with the high flexibility of indirectly self-adaptive finger. Furthermore, a CISA hand with linkage-slider, called CISA-LS hand, is designed based on the CISA grasping model, consisting of 1 palm, 5 CISA-LS fingers and 14 degrees of freedom. Findings To research the grasping behavior of CISA-LS hand, kinematic analysis, dynamic analysis and force analysis of 2-joint CISA-LS finger are performed. Results of grasping experiments for different objects demonstrate the high reliability and stability of CISA-LS hand. Originality/value CISA fingers integrate two grasping modes, coupled grasping and indirectly self-adaptive grasping, into one finger. And a double-linkage-slider mechanism is designed as the switch device.
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Ertas, Ismail Hakan, Elif Hocaoglu, and Volkan Patoglu. "AssistOn-Finger: An under-actuated finger exoskeleton for robot-assisted tendon therapy." Robotica 32, no. 8 (July 17, 2014): 1363–82. http://dx.doi.org/10.1017/s0263574714001957.
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SUMMARYWe present AssistOn-Finger, a novel under-actuated active exoskeleton for robot-assisted tendon therapy of human fingers. The primary use for the exoskeleton is to assist flexion/extension motions of a finger within its full range, while decreasing voluntary muscle contractions helping to keep the tendon tension levels to stay within acceptable limits, avoiding gap formation or rupture of the suture. The device can also be employed to administer range of motion (RoM)/strengthening exercises. AssistOn-Fingeris designed to be passively back-driveable, can cover the whole RoM of patients, and can do so in a natural and coordinated manner. In particular, the device employs human finger as an integral part of its kinematics and when coupled to a human operator, the parallel kinematic structure of exoskeleton supports three independent degrees of freedom, dictated by the kinematics of the human finger. Automatically aligning its joint axes to match finger joint axes, AssistOn-Fingercan guarantee ergonomy and comfort throughout the therapy. The self-aligning feature also significantly shortens the setup time required to attach the patient to the exoskeleton. We present the kinematic type selection for the exoskeleton to satisfy the design requirements for tendon therapy applications, detail optimal dimensional synthesis of the device considering trade-offs between multiple design criteria and discuss implementation details of the exoskeleton. We also present feasibility studies conducted on healthy volunteers and provide statistical evidence on the efficacy of exoskeleton driven exercises in keeping the average muscle recruitment and the maximum tendon tension levels as low as human guided therapies.
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Huang, Hai, Shu Qiang Jiang, Yong Jie Pang, and Jiang Li. "A Bio-Mechanical Designed Under-Actuated Hand and Force Control Schemes." Advanced Materials Research 538-541 (June 2012): 3281–85. http://dx.doi.org/10.4028/www.scientific.net/amr.538-541.3281.
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In order to mimic the natural appearance, motion and perception of the human hand, a biomechatronic approach to design an anthropomorphic Under-actuated hand-HIT/DLR Under-actuated Hand has been presented. It reproduces human hand in its fundamental structure such as appearance, weight, dimensions and inertia. Its thumb can move along a cone surface in 3-D space. Similar with humans’, it combines with abduction and adduction from palmar position to lateral position. Actuated by only one motor, the mid finger, ring finger and little finger can envelop complex objects. Furthermore by applying dynamics model, the force-based impedance control can realize more accurate and stable force control during grasp. Experiments displays dynamic control can make the finger grasp with more smooth and precise trajectory and stable grasp force, these would be particularly helpful for the widely application of underactuated hand.
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Xia, Yan, Rong Qiang Liu, Hong Wei Guo, and Zong Quan Deng. "Design and Analysis of an Under-Actuated Self-Adaptive Mechanical Hand." Applied Mechanics and Materials 602-605 (August 2014): 1083–89. http://dx.doi.org/10.4028/www.scientific.net/amm.602-605.1083.
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A kind of under-actuated self-adaptive mechanical hand was developed in this paper. This mechanical hand consists of three 3-dof under-actuated fingers, and four motors are adopted to drive nine joints. The hand has self-adaptation to targets in different shapes and sizes and it can perform actions, such as folding, unfolding and grasping. In addition, a quasi-statics model of the 3-dof under-actuated finger was established in this paper. The relationship equation between the grasping forces and the driving and damping torques was obtained, and the influence of target size and driving torques on the grasping forces was also discussed. The results of the simulation analysis were shown to verify the correctness of the quasi-statics model.
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Zhang, Wenzeng. "UNDER-ACTUATED HUMANOID ROBOT FINGER WITH SHAPE ADAPTATION." Chinese Journal of Mechanical Engineering 40, no. 10 (2004): 115. http://dx.doi.org/10.3901/jme.2004.10.115.
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CHE, DEMENG, and WENZENG ZHANG. "A DEXTEROUS AND SELF-ADAPTIVE HUMANOID ROBOT HAND: GCUA HAND." International Journal of Humanoid Robotics 08, no. 01 (March 2011): 73–86. http://dx.doi.org/10.1142/s0219843611002435.
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Gesture-changeable under-actuated (GCUA) function is put forward to make traditional under-actuated hands feel easy to grasp different objects and do simple operations dexterously, simultaneously, this function can lower control difficulties of robotic hands. Based on GCUA function, a GCUA hand based on pulley-belt mechanism is designed in detail and manufactured. The Hand can grasp different objects self-adaptively and change its initial gesture dexterously before touching objects. The hand has 5 fingers and 15 DOFs, each finger utilizes screw-nut transmission, flexible drawstring constraint and belt-pulley under-actuated mechanism to realize GCUA function. The analyses on grasping static forces and grasping stabilities are given. The analyses and experimental results show that GCUA function is very nice and valid. The hands with GCUA function can meet the requirements of grasping and operating with lower control and cost, which is the middle road between traditional under-actuated hands and dexterous hands.
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ZHANG, WENZENG, DEYANG ZHAO, HAIPENG ZHOU, ZHENGUO SUN, DONG DU, and QIANG CHEN. "TWO-DOF COUPLED AND SELF-ADAPTIVE (COSA) FINGER: A NOVEL UNDER-ACTUATED MECHANISM." International Journal of Humanoid Robotics 10, no. 02 (June 2013): 1330001. http://dx.doi.org/10.1142/s0219843613300018.
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A large amount of effort has been devoted to design better under-actuated robot hands. The most widely adopted approaches include rigid coupled hands and self-adaptive hands. The objective of this research is to design a robot finger which combines advantages of both ways and overcomes their disadvantages. The concept of coupling and self-adaptation (COSA) was introduced. A linkage-based two-DOF (degree of freedom) COSA robot finger was designed, optimized and studied in this paper. The theoretical analysis and the experiments on the finger show that it is able to execute human-like motion and adaptive grasps in multiple patterns. The research exposes a promising novel under-actuated mechanism for hands design with wide applications.
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ZHANG, Wenzeng. "Development of Gesture-Changeable under-actuated Humanoid Robotic Finger." Chinese Journal of Mechanical Engineering 23, no. 02 (2010): 142. http://dx.doi.org/10.3901/cjme.2010.02.142.
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Zhang, Xiaoguang, Taoyuanmin Zhu, Itsui Yamayoshi, and Dennis Hong. "Dexterity, Sensitivity and Versatility: An Under Actuated Robotic Hand with Mechanical Intelligence and Proprioceptive Actuation." International Journal of Humanoid Robotics 17, no. 02 (February 13, 2020): 2050006. http://dx.doi.org/10.1142/s0219843620500061.
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A three-finger under actuated robotic hand with dexterous force control and inherent compliance is developed and tested. A simplified biomimetic finger design is generated and applied with mechanical intelligence principles carefully designed and embedded such that optimal trajectories for grabbing are naturally followed and the fingers can automatically conform to the goal object. A generalizable potential energy flow theory is then proposed to explain the mechanism behind the mechanical intelligence. The theory is also supported by experimental results. Quasi-direct drive actuators were developed to actuate the robotic hand with proprioceptive force sensing and inherent compliance. The hand performs delicate force-controlled manipulation with a simple compliance controller implemented.
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Zhang, Wenzeng. "Design of under-actuated humanoid robot finger with shape adaptation." Chinese Journal of Mechanical Engineering (English Edition) 17, supp (2004): 59. http://dx.doi.org/10.3901/cjme.2004.supp.059.
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Qiao, Shangling, Hongwei Guo, Rongqiang Liu, Yong Huang, and Zongquan Deng. "Self-adaptive grasp analysis of a novel under-actuated cable-truss robotic finger." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science 233, no. 6 (June 27, 2018): 2121–34. http://dx.doi.org/10.1177/0954406218779612.
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This paper presents the self-adaptive grasp of a novel cable-driven finger, which is an underactuated finger comprising cable-truss units. The underactuated cable-truss finger uses tendon-pulley transmission and parallel four-linkage mechanism to realize grasps. The working principle of the underactuated cable-truss finger and the self-adaptation at the grasp-closing stage are introduced. A self-adaptive grasping model is constructed to analyze the self-adaptation, and a new analysis method that considers the position and posture of grasping point in distal phalange is proposed. A new generalized coordinate, which directly shows the contacting position and the relative angular displacement in the distal phalange, is established. The expression of general static grasping force is established by using the virtual work principle, which reveals the relationship among the driving force, the equivalent torques on joints and the grasping forces. The workspace of the underactuated cable-truss finger and distributions of grasping force in new generalized coordinate are assessed through numerical analysis. The balance conditions of the self-adaptive grasp and the corresponding statuses are theoretically illustrated. Valid and adequate self-adaptive grasping experiments are conducted to verify the accuracy of self-adaptive grasping analysis.
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Biswal, Deepak Ranjan, and Pramod Kumar Parida. "Mathematical Modelling and Kinematic Analysis of a Tendon Driven Under-Actuated Robotic Hand." International Journal for Research in Applied Science and Engineering Technology 11, no. 1 (January 31, 2023): 862–71. http://dx.doi.org/10.22214/ijraset.2023.48688.
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Abstract: Providing a robotic system with dexterous skills and autonomous capabilities is a key challenge in the field of humanoid robotics, particularly in areas such as industrial manufacturing, prosthetics, and orthopaedic rehabilitation. Providing such a system would be extremely useful in these areas. In order for its functionality to be fully realised, a multifingered robotic hand calls on a significantly higher level of actuation and transmission systems. Under actuation techniques provide the impression of being a workable solution for achieving high degrees of dexterity in robotic hands without the need for more complex mechanical design. One of the most defining characteristics of an under-actuated robotic hand is that the needed number of actuators to control the hand is fewer in number than the degree of freedom that the hand possesses. When compared to a fully actuated version of the same hand, an identical hand with under actuation offers a considerable reduction in the complexity of the control system and a large cost savings. The current study proposes the design and kinematic analysis of an anthropomorphic five-finger robotic hand. Four of the fingers and the thumb are under-actuated, and the hand has twenty-one degrees of freedom and twelve degrees of actuation.
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Abdul Wahit, Mohamad Aizat, Siti Anom Ahmad, Mohammad Hamiruce Marhaban, Chikamune Wada, and Lila Iznita Izhar. "3D Printed Robot Hand Structure Using Four-Bar Linkage Mechanism for Prosthetic Application." Sensors 20, no. 15 (July 27, 2020): 4174. http://dx.doi.org/10.3390/s20154174.
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Trans-radial prosthesis is a wearable device that intends to help amputees under the elbow to replace the function of the missing anatomical segment that resembles an actual human hand. However, there are some challenging aspects faced mainly on the robot hand structural design itself. Improvements are needed as this is closely related to structure efficiency. This paper proposes a robot hand structure with improved features (four-bar linkage mechanism) to overcome the deficiency of using the cable-driven actuated mechanism that leads to less structure durability and inaccurate motion range. Our proposed robot hand structure also took into account the existing design problems such as bulky structure, unindividual actuated finger, incomplete fingers and a lack of finger joints compared to the actual finger in its design. This paper presents the improvements achieved by applying the proposed design such as the use of a four-bar linkage mechanism instead of using the cable-driven mechanism, the size of an average human hand, five-fingers with completed joints where each finger is moved by motor individually, joint protection using a mechanical stopper, detachable finger structure from the palm frame, a structure that has sufficient durability for everyday use and an easy to fabricate structure using 3D printing technology. The four-bar linkage mechanism is the use of the solid linkage that connects the actuator with the structure to allow the structure to move. The durability was investigated using static analysis simulation. The structural details and simulation results were validated through motion capture analysis and load test. The motion analyses towards the 3D printed robot structure show 70–98% similar motion range capability to the designed structure in the CAD software, and it can withstand up to 1.6 kg load in the simulation and the real test. The improved robot hand structure with optimum durability for prosthetic uses was successfully developed.
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Kang, Long, Jong-Tae Seo, Sang-Hwa Kim, Wan-Ju Kim, and Byung-Ju Yi. "Design and Implementation of a Multi-Function Gripper for Grasping General Objects." Applied Sciences 9, no. 24 (December 4, 2019): 5266. http://dx.doi.org/10.3390/app9245266.
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The development of a reliable pick-and-place system for industrial robotics is facing an urgent demand because many manual-labor works, such as piece-picking in warehouses and fulfillment centers tend toward automation. This paper presents an integrated gripper that combines a linkage-driven underactuated gripper with a suction gripping system for picking up a variety of objects in different working environments. The underactuated gripper consists of two fingers, and each finger has three degrees of freedom that are obtained by stacking one five-bar mechanism over one double parallelogram. Furthermore, each finger is actuated by two motors, both of which can be installed at the base owing to the special architecture of the proposed robotic finger. A suction cup is used to grasp objects in narrow spaces and cluttered environments. The combination of the suction and traditional linkage-driven grippers allows stable and reliable grasping under different working environments. Finally, practical experiments using a wide range of objects and under different grasping scenarios are performed to demonstrate the grasping capability of the integrated gripper.
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Gopura, R. A. R. C., and D. S. V. Bandara. "A Hand Prosthesis with an Under-Actuated and Self-Adaptive Finger Mechanism." Engineering 10, no. 07 (2018): 448–63. http://dx.doi.org/10.4236/eng.2018.107031.
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OZAWA, Ryuta, and Michinori MORIYA. "1P1-A02 Graspless manipulation with an under-actuated tendon-drive robotic finger." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2008 (2008): _1P1—A02_1—_1P1—A02_4. http://dx.doi.org/10.1299/jsmermd.2008._1p1-a02_1.
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Anwar, Muddasar, Toufik Al Khawli, Irfan Hussain, Dongming Gan, and Federico Renda. "Modeling and prototyping of a soft closed-chain modular gripper." Industrial Robot: the international journal of robotics research and application 46, no. 1 (January 21, 2019): 135–45. http://dx.doi.org/10.1108/ir-09-2018-0180.
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Purpose This paper aims to present a soft closed-chain modular gripper for robotic pick-and-place applications. The proposed biomimetic gripper design is inspired by the Fin Ray effect, derived from fish fins physiology. It is composed of three axisymmetric fingers, actuated with a single actuator. Each finger has a modular under-actuated closed-chain structure. The finger structure is compliant in contact normal direction, with stiff crossbeams reorienting to help the finger structure conform around objects. Design/methodology/approach Starting with the design and development of the proposed gripper, a consequent mathematical representation consisting of closed-chain forward and inverse kinematics is detailed. The proposed mathematical framework is validated through the finite element modeling simulations. Additionally, a set of experiments was conducted to compare the simulated and prototype finger trajectories, as well as to assess qualitative grasping ability. Findings Key Findings are the presented mathematical model for closed-loop chain mechanisms, as well as design and optimization guidelines to develop controlled closed-chain grippers. Research limitations/implications The proposed methodology and mathematical model could be taken as a fundamental modular base block to explore similar distributed degrees of freedom (DOF) closed-chain manipulators and grippers. The enhanced kinematic model contributes to optimized dynamics and control of soft closed-chain grasping mechanisms. Practical implications The approach is aimed to improve the development of soft grippers that are required to grasp complex objects found in human–robot cooperation and collaborative robot (cobot) applications. Originality/value The proposed closed-chain mathematical framework is based on distributed DOFs instead of the conventional lumped joint approach. This is to better optimize and understand the kinematics of soft robotic mechanisms.
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Potratz, Jason, Jingzhou Yang, Karim Abdel-Malek, Esteban Peña Pitarch, and Nicole Grosland. "A Light Weight Compliant Hand Mechanism With High Degrees of Freedom." Journal of Biomechanical Engineering 127, no. 6 (August 12, 2005): 934–45. http://dx.doi.org/10.1115/1.2052805.
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This paper presents the design and prototyping of an inherently compliant lightweight hand mechanism. The hand mechanism itself has 15 degrees of freedom and five fingers. Although the degrees of freedom in each finger are coupled, reducing the number of independent degrees of freedom to 5, the 15 degrees of freedom of the hand could potentially be individually actuated. Each joint consists of a novel flexing mechanism that is based on the loading of a compression spring in the axial and transverse direction via a cable and conduit system. Currently, a bench top version of the prototype is being developed; the three joints of each finger are coupled together to simplify the control system. The current control scheme under investigation simulates a control scheme where myoelectric signals in the wrist flexor and extensor muscles are converted in to x and y coordinates on a control scheme chart. Static load-deformation analysis of finger segments is studied based on a 3-dimensional model without taking the stiffener into account, and the experiment validates the simulation.
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Villegas-Jiménez, Ernesto Alonso, Miguel Alejandro Aranda-Herrera, and Fernando Macedo-Chagolla. "Development of a reducer geared mechanism: performance analysis on a full-actuated adaptive finger application." Journal of Physics: Conference Series 2368, no. 1 (November 1, 2022): 012005. http://dx.doi.org/10.1088/1742-6596/2368/1/012005.
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The human hand is a manipulator with extraordinary capabilities, the elements that constitute it make its emulation too complex. There are manipulators with amazing and outstanding abilities that have become too complex and costly. Alternatively, there are under-actuated and self-adaptive manipulators that are simple and affordable, have appropriate performance, although their functions and gripping modes are limited and may not be entirely reliable. This paper exposes the proposal of a 12-gear reducer mechanism in 3 phases with linear array, designed to maintain a constant link transmission, amplifying the torque while the angular speed is reduced exponentially. The mechanism is attached a finger casing based on anthropomorphic aspects and is replicated twice, turning the finger into a fully actuated mechanism and with the possibility of being adaptive to different grip modes. A broad description of the system elements and their design rationale is presented. A mathematical model is developed to know the performance of the finger as a function of torque, force, angular speed and execution time of the movement, the results obtained are shown graphically accompanied by their respective concept expressions. Subsequently, the conclusions are presented. Finally, future works are described.
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Chandrakant, Desai Akash, Shaikh Sohil Jahangir, Sharma Abhishek Rajendra, Shaikh Tousik Rafik, and Iqbal Mansuri. "Low Cost Design of 3D Printed Prosthetic Hand with IR Sensor." International Journal for Research in Applied Science and Engineering Technology 10, no. 3 (March 31, 2022): 1390–94. http://dx.doi.org/10.22214/ijraset.2022.40870.
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Abstract: One of the most common problem that disabled persons with amputation in upper limb they couldn’t buy a commercial prosthetic hand because it very expansive and up to thousands of dollars, Researchers and developer aspire to manufacture an prosthetic hand that performs the same functions and activates of natural hand. This paper includes the design and development of a low-cost prosthetic hand (less than a1000$) that capable of wearing from the persons who has amputation in the hand, this design represent a hand with five finger capable of movement and gripping the object, rotatable wrist and socket connect with amputation body capable to up and down the forearm . The design of this prosthetic hand possess 18 degree of freedom (DOF), 3DOFfor each finger except the thumb has 4DOF, 2DOFfor wrist and 2DOF for socket. The design prosthetic hand work by under actuated system 7 servo motors with tendon to move the fingers material (PLA). The design element and tesht in solid work to avoid overlapping between fingers and then after manufacture the design try it in real life to movement and gripping the object. Keywords: Prosthetic hand, degree of freedom, 3d printing, solid work.
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Ha, Xuan Vinh, Cheolkeun Ha, and Dang Khoa Nguyen. "A General Contact Force Analysis of an Under-Actuated Finger in Robot Hand Grasping." International Journal of Advanced Robotic Systems 13, no. 1 (January 2016): 14. http://dx.doi.org/10.5772/62131.
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Penta, Francesco, Cesare Rossi, and Sergio Savino. "Analysis of suitable geometrical parameters for designing a tendon-driven under-actuated mechanical finger." Frontiers of Mechanical Engineering 11, no. 2 (May 25, 2016): 184–94. http://dx.doi.org/10.1007/s11465-016-0385-y.
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Vaz, Anand, and Shinichi Hirai. "A Bond Graph Approach to the Analysis of Prosthesis for a Partially Impaired Hand." Journal of Dynamic Systems, Measurement, and Control 129, no. 1 (March 7, 2006): 105–13. http://dx.doi.org/10.1115/1.2397160.
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A system dynamics approach, based on bond graphs, is presented for the analysis of prosthetic devices for a partially impaired hand. The partial impairment implies that the hand has lost one or more fingers but retains the ability of its remaining natural fingers. It is shown that the existing natural joints can be used for the actuation of prosthetic finger joints and enable performance of tasks that would not have been possible otherwise. This is a challenging task as motion has to be transmitted from the remaining natural joints to the prosthetic joints. The joint axes move with respect to each other during performance of tasks and do not have any fixed relative orientation. In this work, basic concepts for the actuation of the prosthesis required for such tasks are developed systematically. Based on these concepts, Bowden cable based joint actuation mechanisms for transmission of motion from natural joints to corresponding prosthetic joints are presented and analyzed. The analysis of dynamics of the resulting under-actuated prosthesis with joint actuation mechanism is based on bond graph models that are systematically developed. Using these models, system equations are derived and numerical simulations performed for the analysis. One- and two-joint actuated prototypes of the prosthesis have been presented and effectively demonstrate the proposed concepts.
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Chang, Eric, Laura Y. Matloff, Amanda K. Stowers, and David Lentink. "Soft biohybrid morphing wings with feathers underactuated by wrist and finger motion." Science Robotics 5, no. 38 (January 16, 2020): eaay1246. http://dx.doi.org/10.1126/scirobotics.aay1246.
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Since the Wright Flyer, engineers have strived to develop flying machines with morphing wings that can control flight as deftly as birds. Birds morph their wing planform parameters simultaneously—including sweep, span, and area—in a way that has proven to be particularly challenging to embody robotically. Previous solutions have primarily centered around the classical aerospace paradigm of controlling every degree of freedom to ensure predictable performance, but underperform compared with birds. To understand how birds accomplish wing morphing, we measured the kinematics of wing flexion and extension in common pigeons, Columba livia. The skeletal and feather kinematics show that the 20 primary and 20 secondary feathers are coordinated via approximately linear transfer functions controlled by wrist and finger motion. To replicate this control principle in a robot, we developed a biohybrid morphing wing with real feathers to understand the underlying design principles. The outcome, PigeonBot, embodies 42 degrees of freedom that control the position of 40 elastically connected feathers via four servo-actuated wrist and finger joints. Our flight tests demonstrate that the soft feathered wings morph rapidly and robustly under aerodynamic loading. They not only enable wing morphing but also make robot interactions safer, the wing more robust to crashing, and the wing reparable via “preening.” In flight tests, we found that both asymmetric wrist and finger motion can initiate turn maneuvers—evidence that birds may use their fingers to steer in flight.
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Gao, Xiang, Fujian Zhang, Xinghao Hu, and Zhongqiang Zhang. "Flexible actuator by electric bending of saline solution-filled carbon nanotubes." Journal of Physics D: Applied Physics 55, no. 21 (February 25, 2022): 215301. http://dx.doi.org/10.1088/1361-6463/ac55bf.
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Abstract As a two-phase hybrid material, liquid-filled carbon nanotubes (CNTs) provide a great opportunity to design dexterous flexible nano-manipulator actuated by electric field. Here, we report a group of saline solution-filled CNTs with the end constraint can realize 360° all-round bending in a suitable electric field. The molecular dynamics (MD) simulation results show that saline solution-filled CNTs can be bent under the axial-lateral compound electric field, whereas the bending deflection increases with the increase of salinity, CNTs length and electric intensity. The deformation mechanism of saline solution-filled CNTs under the electric field is clarified by exploring the movement and distribution of salt ions in CNTs under the axial electric field. Moreover, based on the bending deformation characteristics of saline solution-filled CNTs, the MD simulations for the two-finger and four-finger nano grippers grasping diamond balls are carried out to demonstrate the micromanipulation functions of saline solution-filled CNTs. The findings will provide an important theoretical basis for the design and application of micromanipulation devices based on low dimensional carbon materials.
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Tiziani, Lucas, Alexander Hart, Thomas Cahoon, Faye Wu, H. Harry Asada, and Frank L. Hammond. "Empirical characterization of modular variable stiffness inflatable structures for supernumerary grasp-assist devices." International Journal of Robotics Research 36, no. 13-14 (July 2, 2017): 1391–413. http://dx.doi.org/10.1177/0278364917714062.
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This paper presents the design, fabrication, and experimental characterization of modular, variable stiffness inflatable components for pneumatically actuated supernumerary robotic (SR) grasp-assist devices. The proposed SR grasp-assist devices are comprised of soft rigidizable finger phalanges and variable stiffness pneumatic bending actuators that are manufactured using soft lithography fabrication methods. The mechanical and kinematic properties of these modular, inflatable components are characterized experimentally under various loading conditions and over a range of geometric design parameters. The resulting data-driven properties are then used to predict the grasp strengths and motion patterns of SR grasp-assist device configurations designed to accommodate the manipulation of daily living objects. Experimental results demonstrate the ability to program grasp synergies into SR fingers by strategic inflation of the bending actuator antagonist chambers (varying mechanical stiffness), without the need for complicated, high-power mechanisms or precise, low-level motion control. The results also demonstrate the underactuated grasp adaptations enabled by modular inflatable components and the ability to predict mechanical grasping capabilities of wearable pneumatic SR grasp-assist devices using insights from empirical data.
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Figliolini, Giorgio, and Pierluigi Rea. "Mechatronic design and experimental validation of a novel robotic hand." Industrial Robot: An International Journal 41, no. 1 (January 14, 2014): 98–108. http://dx.doi.org/10.1108/ir-04-2013-344.
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Purpose – The subject of the paper is the mechatronic design of a novel robotic hand, cassino-underactuated-multifinger-hand (Ca.U.M.Ha.), along with its prototype and the experimental analysis of its grasping of soft and rigid objects with different shapes, sizes and materials. The paper aims to discuss these issues. Design/methodology/approach – Ca.U.M.Ha. is designed with four identical underactuated fingers and an opposing thumb, all joined to a rigid palm and actuated by means of double-acting pneumatic cylinders. In particular, each underactuated finger with three phalanxes and one actuator is able to grasp cylindrical objects with different shapes and sizes, while the common electropneumatic operation of the four underactuated fingers gives an additional auto-adaptability to grasp objects with irregular shapes. Moreover, the actuating force control is allowed by a closed-loop pressure control within the pushing chambers of the pneumatic cylinders of the four underactuated fingers, because of a pair of two-way/two-position pulse-width-modulation (PWM) modulated pneumatic digital valves, which can also be operated under ON/OFF modes. Findings – The grasping of soft and rigid objects with different shapes, sizes and materials is a very difficult task that requires a complex mechatronic design, as proposed and developed worldwide, while Ca.U.M.Ha. offers these performances through only a single ON/OFF or analogue signal. Practical implications – Ca.U.M.Ha. could find several practical applications in industrial environments since it is characterized by a robust and low-cost mechatronic design, flexibility and easy control, which are based on the use of easy-running components. Originality/value – Ca.U.M.Ha. shows a novel mechatronic design that is based on a robust mechanical design and an easy operation and control with high dexterity and reliability to perform a safe grasp of objects with different shapes, sizes and materials.
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Tu, Xikai, Hualin Han, Jian Huang, Jian Li, Chen Su, Xiaobo Jiang, and Jiping He. "Upper Limb Rehabilitation Robot Powered by PAMs Cooperates with FES Arrays to Realize Reach-to-Grasp Trainings." Journal of Healthcare Engineering 2017 (2017): 1–15. http://dx.doi.org/10.1155/2017/1282934.
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The reach-to-grasp activities play an important role in our daily lives. The developed RUPERT for stroke patients with high stiffness in arm flexor muscles is a low-cost lightweight portable exoskeleton rehabilitation robot whose joints are unidirectionally actuated by pneumatic artificial muscles (PAMs). In order to expand the useful range of RUPERT especially for patients with flaccid paralysis, functional electrical stimulation (FES) is taken to activate paralyzed arm muscles. As both the exoskeleton robot driven by PAMs and the neuromuscular skeletal system under FES possess the highly nonlinear and time-varying characteristics, iterative learning control (ILC) is studied and is taken to control this newly designed hybrid rehabilitation system for reaching trainings. Hand function rehabilitation refers to grasping. Because of tiny finger muscles, grasping and releasing are realized by FES array electrodes and matrix scan method. By using the surface electromyography (EMG) technique, the subject’s active intent is identified. The upper limb rehabilitation robot powered by PAMs cooperates with FES arrays to realize active reach-to-grasp trainings, which was verified through experiments.
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Cheng, Peilin, Jiangming Jia, Yuze Ye, and Chuanyu Wu. "Modeling of a Soft-Rigid Gripper Actuated by a Linear-Extension Soft Pneumatic Actuator." Sensors 21, no. 2 (January 12, 2021): 493. http://dx.doi.org/10.3390/s21020493.
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Soft robot has been one significant study in recent decades and soft gripper is one of the popular research directions of soft robot. In a static gripping system, excessive gripping force and large deformation are the main reasons for damage of the object during the gripping process. For achieving low-damage gripping to the object in static gripping system, we proposed a soft-rigid gripper actuated by a linear-extension soft pneumatic actuator in this study. The characteristic of the gripper under a no loading state was measured. When the pressure was >70 kPa, there was an approximately linear relation between the pressure and extension length of the soft actuator. To achieve gripping force and fingertip displacement control of the gripper without sensors integrated on the finger, we presented a non-contact sensing method for gripping state estimation. To analyze the gripping force and fingertip displacement, the relationship between the pressure and extension length of the soft actuator in loading state was compared with the relationship under a no-loading state. The experimental results showed that the relative error between the analytical gripping force and the measured gripping force of the gripper was ≤2.1%. The relative error between analytical fingertip displacement and theoretical fingertip displacement of the gripper was ≤7.4%. Furthermore, the low damage gripping to fragile and soft objects in static and dynamic gripping tests showed good performance of the gripper. Overall, the results indicated the potential application of the gripper in pick-and-place operations.
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Povedano, I., A. Bombardi, D. G. Porter, M. Burt, S. Green, and K. V. Kamenev. "High-pressure developments for resonant X-ray scattering experiments at I16." Journal of Synchrotron Radiation 27, no. 2 (February 27, 2020): 351–59. http://dx.doi.org/10.1107/s1600577519016308.
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An experimental setup to perform high-pressure resonant X-ray scattering (RXS) experiments at low temperature on I16 at Diamond Light Source is presented. The setup consists of a membrane-driven diamond anvil cell, a panoramic dome and an optical system that allows pressure to be measured in situ using the ruby fluorescence method. The membrane cell, inspired by the Merrill–Bassett design, presents an asymmetric layout in order to operate in a back-scattering geometry, with a panoramic aperture of 100° in the top and a bottom half dedicated to the regulation and measurement of pressure. It is specially designed to be mounted on the cold finger of a 4 K closed-cycle cryostat and actuated at low-temperature by pumping helium into the gas membrane. The main parts of the body are machined from a CuBe alloy (BERYLCO 25) and, when assembled, it presents an approximate height of 20–21 mm and fits into a 57 mm diameter. This system allows different materials to be probed using RXS in a range of temperatures between 30 and 300 K and has been tested up to 20 GPa using anvils with a culet diameter of 500 µm under quasi-cryogenic conditions. Detailed descriptions of different parts of the setup, operation and the developed methodology are provided here, along with some preliminary experimental results.
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Li, Xin, Qiang Huang, Xuechao Chen, Zhangguo Yu, Jinying Zhu, and Jianda Han. "A novel under-actuated bionic hand and its grasping stability analysis." Advances in Mechanical Engineering 9, no. 2 (February 2017): 168781401668885. http://dx.doi.org/10.1177/1687814016688859.
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This article presents a novel under-actuated robot hand, which has a thumb and two cooperative fingers. The thumb has two joints with 2 degrees of freedom driven by one motor. Each of the other two fingers has the same mechanism structure with the thumb and forms a cooperative mechanism, which is driven by only one motor with 4 degrees of freedom in total. All the under-actuated fingers are designed with the transmission mechanisms based on a kind of mechanism combined with the linkage mechanism and the passive elements. In this article, it is shown that under-actuated hand is able to reproduce most of the grasping behaviors of the human hand anthropomorphically and self-adaptively, without increasing the complexity of mechanism and control. The grasping stability analysis is given to help to understand the size range and load range of a stable grasp. Finally, the experiment results verify the high efficiency and stability of the novel mechanism.
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Biswal, Deepak Ranjan, and Pramod Kumar Parida. "Modelling and Finite Element Based Analysis of a Five Fingered Underactuated Robotic Hand." International Journal for Research in Applied Science and Engineering Technology 10, no. 9 (September 30, 2022): 100–108. http://dx.doi.org/10.22214/ijraset.2022.46579.
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Abstract: Imparting the dexterity and autonomous competence to a robotic system is a significant burden in humanoid robotics, especially in the fields of industrial manufacturing, prosthetics, orthopedic rehabilitation, etc. Operating a humanoid hand requires a very innovative actuator and transmission system. The under-actuated concepts are proving to be a possible means of achieving extremely dexterous robotic hands without the need for diverse mechanical design. The main characteristics of an under-actuated robotic hand are that fewer actuators are required to operate it than the degrees of freedom. The under-actuated equivalent hand is significantly less expensive than the fully-actuated equivalent hand and remarkably reduces the complexity of the control system. The existing work dealt with the modeling and finite element-based analysis of an anthropomorphic underactuated robotic hand using five fingers including the thumb and palm with dexterity and with a total of twenty-one degrees of freedom.
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Mańkowski, Tomasz, Jakub Tomczyński, Krzysztof Walas, and Dominik Belter. "PUT-Hand—Hybrid Industrial and Biomimetic Gripper for Elastic Object Manipulation." Electronics 9, no. 7 (July 16, 2020): 1147. http://dx.doi.org/10.3390/electronics9071147.
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In this article, the design of a five-fingered anthropomorphic gripper is presented specifically designed for the manipulation of elastic objects. The manipulator features a hybrid design, being equipped with three fully actuated fingers for precise manipulation, and two underactuated, tendon-driven digits for secure power grasping. For ease of reproducibility, the design uses as many off-the-shelf and 3D-printed components as possible. The on-board controller circuit and firmware are also presented. The design includes resistive position and angle sensors in each joint, resulting in full joint observability. The controller has a position-based controller integrated, along with USB communication protocol, enabling gripper state reporting and direct motor control from a PC. A high-level driver operating as a Robot Operating System node is also provided. All drives and circuitry of the PUT-Hand are integrated within the hand itself. The sensory system of the hand includes tri-axial optical force sensors placed on fully actuated fingers’ fingertips for reaction force measurement. A set of experiments is provided to present the motion and perception capabilities of the gripper. All design files and source codes are available online under CC BY-NC 4.0 and MIT licenses.
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Ruiz Garate, Virginia, and Arash Ajoudani. "An approach to object-level stiffness regulation of hand-arm systems subject to under-actuation constraints." Autonomous Robots 44, no. 8 (August 27, 2020): 1505–17. http://dx.doi.org/10.1007/s10514-020-09942-9.
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Abstract When using a tool with a robotic hand-arm system, the stiffness at the grasped object plays a key role in the interaction with the environment, allowing the successful execution of the task. However, the rapidly increasing use of under-actuated hands in robotic systems due to their robustness and simplicity of control, pose limitations to the achievable object-level stiffness. Indeed, due to the serial coupling of the hand and the arm, the resulting object-level stiffness is determined by the most compliant of both elements. To address this problem, we propose a novel controller that takes into account the limited achievable geometry of the object stiffness ellipsoid given by a hand with under-actuation constraints, and exploits the contribution of the robotic arm in reshaping the final stiffness towards the desired profile. The under-actuation is illustrated by a coordinated stiffening of the hand fingers. The proposed method is experimentally validated by a hand-arm system performing a peg-in-hole task.
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Kazeminasab, Saber, Alireza Hadi, Khalil Alipour, and Mohammad Elahinia. "Force and motion control of a tendon-driven hand exoskeleton actuated by shape memory alloys." Industrial Robot: An International Journal 45, no. 5 (August 20, 2018): 623–33. http://dx.doi.org/10.1108/ir-01-2018-0020.
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Purpose Many people suffer from injuries related to their hand. This research aims to focus on the improvement of the previously developed smart glove by using position and force control algorithms. The new smart glove may be used for both physiotherapy and assistance. Design/methodology/approach The proposed robot uses shape memory alloy (SMA) actuators coupled to an under-actuated tendon-driven mechanism. The proposed device, which is presented as a wearable glove attached to an actuation module, is capable of exerting extremely high forces to grasp objects in various hand configurations. The device’s performance is studied in physiotherapy and object manipulation tasks. In the physiotherapy mode, hand motion frequency is controlled, whereas the grasping force is controlled in the object manipulation mode. To simulate the proposed system behavior, the kinematic and dynamic equations of the proposed system have been derived. Findings The achieved results verify that the system is suitable to be used as part of a rehabilitation device in which it can flex and extend fingers with accurate trajectories and grasp objects efficiently. Specifically, it will be shown that using six SMA wires with the diameter of 0.25 mm, the proposed robot can provide 45 N gripping force for the patients. Originality/value The proposed robot uses SMA actuators and an under-actuated tendon-driven mechanism. The resulted robotic system, which is presented as a wearable glove attached to an actuation module, is capable of exerting extremely high force levels to grasp objects in various hand configurations. It is shown that the motion and exerted force of the robot may be controlled effectively in practice.
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Belfiore, Nicola Pio, Alvise Bagolini, Andrea Rossi, Gabriele Bocchetta, Federica Vurchio, Rocco Crescenzi, Andrea Scorza, Pierluigi Bellutti, and Salvatore Andrea Sciuto. "Design, Fabrication, Testing and Simulation of a Rotary Double Comb Drives Actuated Microgripper." Micromachines 12, no. 10 (October 17, 2021): 1263. http://dx.doi.org/10.3390/mi12101263.
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This paper presents the development of a new microgripper actuated by means of rotary-comb drives equipped with two cooperating fingers arrays. The microsystem presents eight CSFH flexures (Conjugate Surface Flexure Hinge) that allow the designer to assign a prescribed motion to the gripping tips. In fact, the adoption of multiple CSFHs gives rise to the possibility of embedding quite a complex mechanical structure and, therefore, increasing the number of design parameters. For the case under study, a double four-bar linkage in a mirroring configuration was adopted. The presented microgripper has been fabricated by using a hard metal mask on a Silicon-on-Insulator (SOI) wafer, subject to DRIE (Deep Reactive Ion Etching) process, with a vapor releasing final stage. Some prototypes have been obtained and then tested in a lab. Finally, the experimental results have been used in order to assess simulation tools that can be used to minimize the amount of expensive equipment in operational environments.
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Kim, Myungsin, Yongjun Lee, Yongseok Lee, and Dongjun Lee. "Haptic rendering and interactive simulation using passive midpoint integration." International Journal of Robotics Research 36, no. 12 (October 2017): 1341–62. http://dx.doi.org/10.1177/0278364917731821.
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We propose a novel framework of haptic rendering and interactive simulation, which, by exploiting midpoint time integration, that is known for its superior energy-conserving property but has not yet been adopted for haptics and interactive simulation, can enforce discrete-time passivity of the simulation effectively in practice, while retaining real-time interactivity due to its being non-iterative. We derive this passive midpoint integration (PMI) simulation for mechanical systems both in maximal coordinates (i.e. in SE(3)) and in generalized coordinates (i.e. in[Formula: see text] ), with some potential actions as well to implement joint articulation, constraints, compliance, and so on. We also fully incorporate multi-point Coulomb frictional contact into them via the PMI-LCP (linear complementarity problem) formulation. The proposed PMI-based simulation framework is applied to some illustrative examples to demonstrate its advantages: (1) haptic rendering of a peg-in-hole task, where very light/stiff articulated objects can be simulated with multi-point contact; (2) haptic interaction with a flexible beam, where marginally stable/lossless behavior (i.e. vibration) can be stably emulated; and (3) under-actuated tendon-driven hand grasping, where mixed maximal-generalized coordinates are used with very light/stiff fingers.
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Jaber, Haneen Mahdi, Muhammed Abdul -Sattar, and Nabel Kadhim Abd al-Sahib. "Developing a Prosthesis Design using A Gearbox to Replicate the Human Hand Mechanism." Al-Khwarizmi Engineering Journal 16, no. 2 (June 1, 2020): 24–33. http://dx.doi.org/10.22153/kej.2020.04.001.
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Prosthetic is an artificial tool that replaces a member of the human frame that is absent because of ailment, damage, or distortion. The current research activities in Iraq draw interest to the upper limb discipline because of the growth in the number of amputees. Thus, it becomes necessary to increase researches in this subject to help in reducing the struggling patients. This paper describes the design and development of a prosthesis for people able and wear them from persons who have amputation in the hands. This design is composed of a hand with five fingers moving by means of a gearbox ism mechanism. The design of this artificial hand has 5 degrees of freedom. This artificial hand works based on the principle of under actuated system. The used motor is 6V Polulu high-power carbon brush micro metal gearmotor with gear ratio equal to 50:1. The motor was chosen due to its compactness and cheapness. The hand manufacturing process was done using a 3D printer and using polylactic acid material. Numbers of experiments were accomplished using the designed hand for gripping objects. Initially, the electromyography signal (EMG) was recorded when the muscle contracted in one second, two seconds, three seconds. The synthetic hand was able to produce a range of gestures and grasping for objects.
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Li, Jianfeng, Yuan Kong, Mingjie Dong, and Ran Jiao. "Development of a linear-parallel and self-adaptive under-actuated hand compensated for the four-link and sliding base mechanism." Robotica, October 22, 2021, 1–18. http://dx.doi.org/10.1017/s026357472100151x.
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Abstract When the under-actuated hand pinches the object on the worktable, the trajectory of the end of the finger is not a straight line, which makes it difficult for the hand to grasp the object from its both sides. In order to overcome this shortcoming, this paper proposes a new configuration of the linear-parallel and self-adaptive under-actuated hand which uses the four-link and sliding base mechanism to compensate for the vertical displacement of the end of the finger. Based on this new configuration, the mechanical structure of the under-actuated hand is designed, which has five degrees of freedom (DOFs), and is mainly composed of two fingers, a sliding base, four link compensation mechanisms and an outer base. These two fingers have exactly the same structure and size, where each finger uses only one motor to control two joints of the finger which realizes the under-actuated function. Through the cooperation of the four-link and sliding base mechanism, the under-actuated hand can realize the linear-parallel and self-adaptive hybrid grasping mode. Kinematics analysis and contact force analysis of the under-actuated hand are discussed, and the prototype of the under-actuated hand is developed to carry out the grasping experiments. The results of the simulation and experiment all show that the under-actuated hand has good motion performance and grasping stability and can be used as an end effector for intelligent robots.
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Lee, Chun-Tse, and Jen-Yuan (James) Chang. "Design of Hybrid Fully-Actuated and Self-Adaptive Mechanism for Anthropomorphic Robotic Finger." Journal of Mechanisms and Robotics, July 21, 2022, 1–35. http://dx.doi.org/10.1115/1.4055061.
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Abstract Prior research on robotic hands predominantly focuses either on high degree of freedom of fully-actuated fingers to replicate a real human hand or on creative designs of under-actuated fingers to make a self-adaptive motion. However, in most cases, fully-actuated fingers encounter difficulty in grasping unstructured objects while under-actuated fingers experience problems in performing precise grasping motions. To deal with any possible scenarios, this study presents a novel design of an anthropomorphic robotic finger that combines both advantages – fully-actuated and self-adaptive grasping (aka FASA) modes – at once. Actuated by tendons, the FASA finger can grasp objects adaptively and achieve accurate angle positioning with the same mechanical design which is introduced in this paper. Based on the kinetostatic analysis, the guideline for the selection of torsion spring is proposed to fulfill the functions of the FASA finger and attain the optimal design of torsional stiffness which manifests itself in a series of tests on different configurations of torsion spring. Likewise, the kinematic analysis for the fully-actuated mode is given as the proof that two joints can move independently by controlling two motors. Ultimately, experimental results again reflect the capability of the FASA finger to perform not only independent precision angle motion but also self-adaptive grasping motion without any change in mechanical structure.
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Li, Guoxuan, Chi Zhang, Wenzeng Zhang, Zhenguo Sun, and Qiang Chen. "Coupled and Self-Adaptive Under-Actuated Finger With a Novel S-Coupled and Secondly Self-Adaptive Mechanism." Journal of Mechanisms and Robotics 6, no. 4 (June 17, 2014). http://dx.doi.org/10.1115/1.4027704.
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This paper presents a novel under-actuated (UA) finger with first coupled and secondly self-adaptive (COSA) grasping mode. COSA fingers can adaptively grasp objects with different sizes and shapes while its motions during grasping are anthropopathic. Until now there are two COSA mechanisms available and they are both direct parallel combinations of coupled mechanism and self-adaptive mechanism. These kind of direct combinations lead to complex mechanical structure and high power consumption. This paper proposes a novel single-route transmission mechanism for COSA grasping mode, S-coupled and directly self-adaptive (CDSA) mechanism for short. Compared with available COSA mechanisms, the S-CDSA mechanism has simpler structure and higher grasping force. Design of 2-joint S-CDSA finger is introduced in this paper. Force analysis for 2-joint S-CDSA finger is given. Furthermore, a 2-joint S-CDSA finger is manufactured. The force analysis and experimental results show that the novel S-CDSA mechanism is effective.
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An, Wei, Jun Wei, Xiaoyu Lu, Jian S. Dai, and Yanzeng Li. "Geometric Design-based Dimensional Synthesis of a Novel Metamorphic Multi-fingered Hand with Maximal Workspace." Chinese Journal of Mechanical Engineering 34, no. 1 (May 7, 2021). http://dx.doi.org/10.1186/s10033-021-00558-3.
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AbstractCurrent research on robotic dexterous hands mainly focuses on designing new finger and palm structures, as well as developing smarter control algorithms. Although the dimensional synthesis of dexterous hands with traditional rigid palms has been carried out, research on the dimensional synthesis of dexterous hands with metamorphic palms remains insufficient. This study investigated the dimensional synthesis of a palm of a novel metamorphic multi-fingered hand, and explored the geometric design for maximizing the precision manipulation workspace. Different indexes were used to value the workspace of the metamorphic hand, and the best proportions between the five links of the palm to obtain the optimal workspace of the metamorphic hand were explored. Based on the fixed total length of the palm member, four nondimensional design parameters that determine the size of the palm were introduced; through the discretization method, the influence of the four design parameters on the workspace of the metamorphic hand with full-actuated fingers and under-actuated fingers was analyzed. Based on the analysis of the metamorphic multi-fingered hand, the symmetrical structure of the palm was designed, resulting in the largest workspace of the multi-fingered hand, and proved that the metamorphic palm has a massive upgrade for the workspace of underactuated fingers. This research contributed to the dimensional synthesis of metamorphic dexterous hands, with practical significance for the design and optimization of novel metamorphic hands.
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Backus, Spencer B., and Aaron M. Dollar. "A Prismatic-Revolute-Revolute Joint Hand for Grasping From Unmanned Aerial Vehicles and Other Minimally Constrained Vehicles." Journal of Mechanisms and Robotics 10, no. 2 (February 5, 2018). http://dx.doi.org/10.1115/1.4038975.
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Here, we present the design, fabrication, and evaluation of a prismatic-revolute-revolute joint hand called the model B that we developed for grasping from ungrounded vehicles. This hand relies on a prismatic proximal joint followed by revolute distal joints in each finger and is actuated by a single motor- and a tendon-based underactuated transmission. We evaluate this design's grasping capabilities both when fully constrained by a robotic arm and when minimally constrained and evaluate its performance in terms of general grasping capabilities and suitability for aerial grasping applications. The evaluation shows that the model B can securely grasp a wide range of objects using a wrap grasp due to the prismatic-revolute-revolute joint finger kinematics. We also show that the prismatic proximal joints and between finger coupling allows the hand to grasp objects under large positional uncertainty without exerting large reaction forces on the object or host vehicle.
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Won, Jong-Seob, and Nina Robson. "Control-Oriented Finger Kinematic Model: Geometry-Based Approach." Journal of Mechanisms and Robotics 11, no. 6 (October 9, 2019). http://dx.doi.org/10.1115/1.4044601.
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Abstract This paper proposes a novel finger kinematic model for human hand configurations, which applies to the realization of a naturalistic human finger motion for robotic finger systems and artificial hands. The proposed finger model is derived based on the geometry of a hand shape grasping a virtual cylindrical object. The model is capable of describing the natural rotation configuration of the joints of a long finger with three degrees of freedom by a single parameter, i.e., the radius of a cylindrical object. Experimental validation of the model shows that it can simulate closely naturalistic human finger movements. With the use of the proposed model, discussions were made on how to achieve multifinger coordination that makes task-specific hand movements or a posture for specific hand actions. Due to the simplicity of the model to define joints angle configuration in a long finger by a single parameter, the combination of the proposed model and the multifinger coordination concept discussed can be seen as an inclusive framework in human-like hand systems design and control. This paper is the first step toward exploring future novel combined design–control strategies for the development of under-actuated prosthetic and powered orthotic devices for the naturalistic motion that are based on both Cartesian space trajectory tracking and joint angle coordination.
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Guo, Canzhi, Song Zhang, Yu Yang, Guanggui Cheng, and Jianning Ding. "A novel soft end effector with active palm and fingertips for robotic picking." Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, December 31, 2022, 095440622211445. http://dx.doi.org/10.1177/09544062221144548.
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Designing a type of dexterous soft end effector is the premise to guarantee the working efficiency of a picking robot. For the practical needs of grasping flat objects on the table and unscrewing the bottle cap, we have refined the advantages of traditional soft grippers and designed a novel two-finger soft end effector with active palm and also with two active fingertips. The bending of the fingers actuated by vacuum, the palm and fingertips are driven by motors. Three grasping strategies are developed for the active fingertips so that the gripper can not only grasp flat objects on the tabletop, but also unscrew a cap of a bottle. Further, benefit from the active palm and the high stiffness design method of the finger skeleton, two working modes, pinching mode and grasping mode, have been developed for the gripper. The end effector achieves a maximum grasping force of 32 N in the horizontal direction and 28 N in the vertical direction under the air pressure of −90 kPa. The working angle of the fingers is 0 °–120 °. The size of the object can be grasped ranges from 0 to 200 mm in diameter. Performance verification experiment shows that the active fingertips play an important role in helping the gripper grasp thin objects such as credit cards and printing papers. Grasping experiments on different objects demonstrate that the active fingertips design significantly enhances the flexibility of the gripper and the application it can empower the manipulator.
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Xu, Dawen, Qingcong Wu, and Yanghui Zhu. "Development of a soft cable-driven hand exoskeleton for assisted rehabilitation training." Industrial Robot: the international journal of robotics research and application ahead-of-print, ahead-of-print (September 3, 2020). http://dx.doi.org/10.1108/ir-06-2020-0127.
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Purpose Hand motor dysfunction has seriously reduced people’s quality of life. The purpose of this paper is to solve this problem; different soft exoskeleton robots have been developed because of their good application prospects in assistance. In this paper, a new soft hand exoskeleton is designed to help people conduct rehabilitation training. Design/methodology/approach The proposed soft exoskeleton is an under-actuated cable-driven mechanism, which optimizes the force transmission path and many local structures. Specifically, the path of force transmission is optimized and cables are wound around cam-shaped spools to prevent cables lose during fingers movement. Besides, a pre-tightening system is presented to adjust the preload force of the cable-tube. Moreover, a passive brake mechanism is proposed to prevent the cables from falling off the spools when the remote side is relaxed. Findings Finally, three control strategies are proposed to assist in rehabilitation training. Results show that the average correlation coefficient of trajectory tracking is 90.99% and this exoskeleton could provide steady clamping force up to 35 N, which could meet the demands of activities in daily living. Surface electromyography (sEMG)-based intention recognition method is presented to complete assistance and experiments are conducted to prove the effectiveness of the assisted grasping method by monitoring muscle activation, finger angle and interactive force. Research limitations/implications However, the system should be further optimized in terms of hardware and control to reduce delays. In addition, more clinical trials should be conducted to evaluate the effect of the proposed rehabilitation strategies. Social implications May improve the ability of hemiplegic patients to live independently. Originality/value A novel under-actuated soft hand exoskeleton structure is proposed, and an sEMG-based auxiliary grasping control strategy is presented to help hemiplegic patients conduct rehabilitation training.
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Xie, Qiaolian, Qiaoling Meng, Wenwei Yu, Zhiyu Wu, Rongna Xu, Qingxin Zeng, Zhongchao Zhou, Tianyi Yang, and Hongliu Yu. "Design of a SMA-based soft composite structure for wearable rehabilitation gloves." Frontiers in Neurorobotics 17 (February 10, 2023). http://dx.doi.org/10.3389/fnbot.2023.1047493.
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The combination of smart soft composite structure based shape memory alloy (SMA) and exoskeleton technology has the advantages of light weight, energy saving, and great human-exoskeleton interaction. However, there are no relevant studies on the application of SMA-based soft composite structure (SSCS) in hand exoskeletons. The main difficulty is that directional mechanical properties of SSCS need to comply with fingers movement, and SSCS can deliver enough output torque and displacement to the relevant joints. This paper aims to study the application of SSCS for wearable rehabilitation gloves and explore its bionic driving mechanism. This paper proposes a soft wearable glove (Glove-SSCS) for hand rehabilitation actuated by the SSCS, based on finger force analysis under different drive modes. The Glove-SSCS can support five-finger flexion and extension, weighs only 120 g, and adopts modular design. Each drive module adopts a soft composite structure. And the structure integrates actuation, sensing and execution, including an active layer (SMA spring), a passive layer (manganese steel sheet), a sensing layer (bending sensor) and connection layers. To obtain a high-performance SMA actuators, the performance of SMA materials was tested in terms of temperature and voltage, temperature at the shortest length, pre-tensile length and load. And the human-exoskeleton coupling model of Glove-SSCS is established and analyzed from force and motion. The results show that the Glove-SSCS can realize bidirectional movements of fingers flexion and extension, with ranges of motion are 90–110° and 30–40°, and their cycles are 13–19 s and 11–13 s. During the use of Glove-SSCS, the temperature of gloves is from 25 to 67°C, and the surface temperature of hands is from 32 to 36°C. The temperature of Glove-SSCS can be kept at the lowest temperature of SMA operation without much impact on the human body.
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Deepak Ranjan Biswal , Pramod Kumar Parida. "TENDON ACTUATED MECHANISM BASED ROBOTIC PROSTHETIC HAND DESIGN FOR DEXTEROUS MANIPULATION AND GRASPING." Journal of Pharmaceutical Negative Results, December 10, 2022, 3089–106. http://dx.doi.org/10.47750/pnr.2022.13.s08.384.
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In Robotic hand designit’sapronounced challenge to afford a robotic arrangement with dexterous aptitude and independent skilfulness particularly in the field of prosthesis, Industrial manufacturing, orthopaedic rehabilitation etc. Avery high diverse level of actuation and transmission scheme is requisite for a multi-fingered robotic hand to accomplish its manoeuvre. The under actuation concept become an encouraging way out to obtain robotic hands with high dexterity without additional complex mechanical design. The foremost feature of an under actuated robotic hand is that the total actuators required to function the hand is fewer than its movability or degree of freedom. The Under actuation decreases impressively the complication of the control system and is less expensive than the fully actuated equivalent hand. The hand is also lighter that it’s fully actuated equivalent. The current work proposed with the design and Kinetostatic analysis of a five-fingered robotic hand in which four under actuated fingers and an under actuated thumb with dexterity is present with a whole of twenty one Degrees of freedom and twelve numbers degree of actuation
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Owen, Mahonri, ChiKit Au, and Andrew Fowke. "Development of a Dexterous Prosthetic Hand." Journal of Computing and Information Science in Engineering 18, no. 1 (November 13, 2017). http://dx.doi.org/10.1115/1.4038291.
Full textAbstract:
An anthropomorphic, under-actuated, prosthetic hand has been designed and developed for upper extremity amputees. This paper proposes a dexterity focused approach to the design of an anthropomorphic electromechanical hand for transradial amputees. Dexterity is increased by the improvement of thumb position, orientation, and work space. The fingers of the hand are also capable of adduction and abduction. It is the intent of this research project to aid the rehabilitation of upper extremity amputees by increasing the amount of tasks the hand can execute. Function and control of the hand are based on micro servo actuation and information acquired from the brain. Electroencephalography (EEG) is used to attain the mental state of the user, which triggers the prosthetic hand. This paper focuses on the mechanical arrangement of the hand and investigates the effect of increasing the degrees-of-freedom (DOFs) the thumb and fingers have.