Journal ArticleDOI
Multifingered robot hand with selfadaptability
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TLDR
The anthropomorphic hand structure is suitable for the implementation of expert control systems and enables the realization of all basic grasp modes although it is controlled only by three servomotors.Abstract:
Today, most commercially available robots are equipped with grippers which have two or three rigid fingers. Practical experience has shown that such simplified grippers represent a serious limiting factor for the application of robots to more complex tasks. In order to overcome these difficulties, a gripper of anthropomorphic structure has been developed—the robot hand. This device enables the realization of all basic grasp modes although it is controlled only by three servomotors. The hand is equipped with two mechanisms for selfadaptability which provide for a safe and reliable grasp of the target. The anthropomorphic hand structure is suitable for the implementation of expert control systems. This paper describes the mechanical construction of the hand and its functional performance.read more
Citations
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Underactuation in robotic grasping hands
Lionel Birglen,Clément Gosselin +1 more
TL;DR: In this article, the development of selfadaptive and reconfigurable hands which are versatile and easy to control is presented, which have three fingers and each of the fingers has three phalanges.
Journal ArticleDOI
Simulation and design of underactuated mechanical hands
TL;DR: In this paper, the design of underactuated mechanical hands is addressed and a robust mechanical hand capable of performing industrial tasks involving the grasping of a wide variety of objects with large forces is presented.
Proceedings ArticleDOI
Design of the TUAT/Karlsruhe humanoid hand
TL;DR: The mechanism and design of a new humanoid-type hand with human-like manipulation abilities is discussed and is designed for the humanoid robot ARMAR which has to work autonomously or interactively in cooperation with humans and for an artificial lightweight arm for handicapped persons.
Journal ArticleDOI
Kinetostatic analysis of underactuated fingers
Lionel Birglen,Clément Gosselin +1 more
TL;DR: A new method to obtain the force capabilities of any underactuated fingers will be presented, based on the introduction of two new matrices which completely describe the relationship between the input torque of the finger actuator(s) and the contact forces on the phalanges.
Proceedings ArticleDOI
An anthropomorphic underactuated robotic hand with 15 dofs and a single actuator
TL;DR: The design and experimental validation of an anthropomorphic underactuated robotic hand with 15 degrees of freedom and a single actuator is presented and the results demonstrate the feasibility of a humanoid hand with many degrees offreedom and one single degree of actuation.
References
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Journal ArticleDOI
An adaptive artificial hand
R. Tomovic,G. Boni +1 more
TL;DR: The most importemt feature of the new hand is the two level control, which can be controlled by signals produced by man as well as by external stimuli.
Journal ArticleDOI
An automatic hand prosthesis.
TL;DR: A new technical realisation of an automatic hand prosthesis is described in this paper, the result of the joint work undertaken by the members of the “Mihajlo Pupin” Institute, Belgrade.