A Design of Anthropomorphic Hand based on Human Finger Anatomy

He, Zixun; Yurievich, Rezenko Roman; Shimizu, Satoru; Fukuda, Masato; Kang, Yousun; Shin, Duk

doi:10.1109/ccs49175.2020.9231423

Cited by 5 publications

(3 citation statements)

References 10 publications

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“…Therefore, some novel driving methods based on the concept of under-actuated are proposed. He [ 16 ] and Rahman [ 17 ] proposed an under-actuated bionic hand driven by rope. This structure can benefit the gripper with flexibility close to the human hand without increasing the complexity of the control system.…”

Section: Related Workmentioning

confidence: 99%

Bionic design of universal gripper for nursing robot with hybrid joints and variable Equivalent Link Length

Wang

2022

J Braz. Soc. Mech. Sci. Eng.

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Currently, most rehabilitation/nursing robots attach the human body to the end of the robot by ‘binding’ solution, which makes the operation complicated and greatly limits their applications. Therefore, it is necessary to study a universal gripper that can directly grasp human limbs as the end-effector of the robot. Inspired by the human hand, this paper proposes a bionic under-actuated gripper that imitates the structure of human hand. The concept of Equivalent Link Length (ELL) is proposed to optimize the envelope effect. And the structure with hybrid rotational and translational joints is proposed to increase gripping stiffness and to avoid the harmful component in the grip force. Theoretical analyses and experiments on envelope effect, force distribution and load capacity show that the propose gripper can grasp cylindrical (limb-shaped) objects with wide applicable size range, and also has a high load capacity. Furthermore, the gripper has the characteristic of almost constant force transfer ratio, which reduces the number of sensors required by the system. These results show that the gripper has the potential to be used in the nursing robot system.

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Section: Related Workmentioning

confidence: 99%

Bionic design of universal gripper for nursing robot with hybrid joints and variable Equivalent Link Length

Wang

2022

J Braz. Soc. Mech. Sci. Eng.

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“…He et al [12] designed the prosthetic hand in accordance with the anatomic structures of the hand and took these structural characteristics into consideration when creating the robotic hand in a bid to develop one that is as flexible as a prosthetic hand. A grabbing demonstration was carried out using simple objects from daily life to assess how well the planned prosthetic hand would perform in real-world situations.…”

Section: Introductionmentioning

confidence: 99%

A Low-Cost, Modular, Cable-Driven, Anthropomorphic Robotic Hand: A Conceptual Design and Application in Biomimetic Study

Adejumo,

Fadare,

Kazeem

et al. 2023

JESA

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The UI Hand I robot is the pioneering development of an anthropomorphic robotic hand for pushing the limits of dynamic biomimetic anthropomorphic robotic hand study in Nigeria. The objective of this research is to develop a truly anthropomorphic hand that captures all the DOF of the hand and can reproduce the dexterity of the human hand. Many robotic hands have been developed so far, but many still lack true anthropomorphism; many have used mechanisms different from those adopted by the human hand, leading to significant deviations both in form and function. Our work aims to improve the fidelity of biomimetic robotic hand design. To this end, we present the conceptual design of a biomimetic, low-cost, modular, cable-driven, tele-operated 26 degrees of freedom anthropomorphic robotic hand. We understudied the biomechanics of important features of the anatomy of the human hand and wrist, developed appropriate mechanical models that mimic the mechanics of these features, and compared them with the CT scan of an actual human hand. The robotic hand's links were designed in Fusion 360 and 3D printed in PLA. The muscles and tendons were modelled as a pulley-cable system using 0.46 mm Spectra® fiber for the tendons, and micro electric motors were used for actuation. A Raspberry Pi 4 was used as the controller, the leap motion controller as the teleoperation device, and Deep Reinforcement Learning was used to learn a suitable control policy. The proposed (UI hand I) anthropomorphic robotic hand and wrist model comprises 29 bones and 17 composite joints with 26 degrees-of-freedom. A total of 80 components were used to model the bones and joints with an estimated weight of 450g. With the addition of the motors, battery and other electrical components, the upper limit of the estimate is 1.2 Kg. The estimated cost of the project is $ 1, 241.80. The research aims to evaluate the robotic hand's dexterity in teleoperation and achieve the full range of poses in the human hand, with potential implications including enhanced automation in spacewalks, construction, industrial operations, and prosthetics.

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“…This paper is an extended paper of our work initially presented in International Symposium on Community-centric Systems (CcS 2020) [1]. The human hand is an important tool for us to interact with and perceive the physical environment.…”

Section: Introductionmentioning

confidence: 99%

A Design of Anthropomorphic Hand based on Human Finger Anatomy

He¹,

Kang²,

Shin³

2021

Adv. sci. technol. eng. syst. j.

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In the past decade, multiple anthropomorphic prosthetic hands have been developed to replace the role of human hands. Prostheses should not only replace the functions of human hands in functionality but also replicate human hands in appearance and sense of bodybelonging intuitively. Human fingers have very delicate and complex structures, and it is these complex structures that make our hands dexterity. This study proposes a design based on the anatomical characteristics of the human hand. The proposed design replicates human fingers from bones, ligaments, extensor hoods, and extensor mechanism of tendon, intended to develop a prosthesis that has the same flexibility and appearance as human hand. To evaluate the performance of the proposed prosthetic in daily life, we conducted grasping experiments on common objects. It is successfully proved that the proposed design helps to improve the grasping performance of the artificial hand and has a natural appearance. In this paper, our design succeeds to improve the grasping performance of the artificial hand and gain natural appearance.

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A Design of Anthropomorphic Hand based on Human Finger Anatomy

Cited by 5 publications

References 10 publications

Bionic design of universal gripper for nursing robot with hybrid joints and variable Equivalent Link Length

Bionic design of universal gripper for nursing robot with hybrid joints and variable Equivalent Link Length

A Low-Cost, Modular, Cable-Driven, Anthropomorphic Robotic Hand: A Conceptual Design and Application in Biomimetic Study

A Design of Anthropomorphic Hand based on Human Finger Anatomy

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