A highly-underactuated robotic hand with force and joint angle sensors

Wang, Long; DelPreto, Joseph; Bhattacharyya, Sam; Weisz, Jonathan; Allen, Peter K.

doi:10.1109/iros.2011.6095147

Cited by 56 publications

(23 citation statements)

References 11 publications

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“…Similarly, position and force feedback were enabled in a three-fingered robot hand by installing potentiometers in finger joints and FSRs in the finger segments, covered by soft pads [140]. For the similar purpose of position and force control, Fukui et al used tactile arrays on finger pads and fingertip multiple-axis force/torque sensors in Universal Robot [163], (b) Vision-based force sensor [168], (c) Outline of the three-axis tactile sensor [155].…”

Section: B Research Platformsmentioning

confidence: 99%

Sensors for Robotic Hands: A Survey of State of the Art

Saudabayev

Varol

2015

IEEE Access

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Abstract-Recent decades have seen significant progress in the field of artificial hands. Most of the surveys, which try to capture the latest developments in this field, focused on actuation and control systems of these devices. In this work, our goal is to provide a comprehensive survey of the sensors for artificial hands. In order to present the evolution of the field, we cover five year periods starting at the turn of the millennium. At each period, we present the robot hands with a focus on their sensor systems dividing them into categories such as prosthetics, research devices and industrial end-effectors. We also cover the sensors developed for robot hand usage in each era. Finally, the period between 2010 and 2015 introduces the reader the state-ofthe-art and also hints to the future directions in the sensor development for artificial hands.

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Section: B Research Platformsmentioning

confidence: 99%

Sensors for Robotic Hands: A Survey of State of the Art

Saudabayev

Varol

2015

IEEE Access

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“…The preshaping of a self-adaptive finger is defined by its motion before any contact is made with an object [27] and [28]. While there is no contact force during this stage of the grasping sequence, it is still possible to extract useful information from (1).…”

Section: Preshapingmentioning

confidence: 99%

Stiffness Analysis of Underactuated Fingers and Its Application to Proprioceptive Tactile Sensing

Belzile

Birglen

2016

IEEE/ASME Trans. Mechatron.

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Underactuation has become, in recent years, more and more prevalent in robotic fingers since it provides the latter with the ability to mechanically adapt to the shape of the objects seized. To improve the usually simplistic control schemes of these fingers, and possibly to provide force feedback or control, tactile sensors are typically used. However, another promising avenue, as presented in this paper, is rather to use information provided by proprioceptive (i.e., internal) sensors. Most interestingly, this can be done using only the torque and position sensors typically found attached to the actuator(s) of these fingers. Because a relationship exists between the stiffness of an underactuated finger as seen from its actuator and the contact locations on its phalanges, it is possible to estimate one from the other. In this paper, a proprioceptive tactile sensing algorithm based on this technique is presented. It is concluded that within certain theoretical and practical limits, it is possible to extract tactile data from a self-adaptive finger, namely position and magnitude of the contact forces, without actually using any physical tactile sensors.

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“…Generally, tendons robotic hands own a good expandability than linkage and gear hands. Columbia hand is a highly underactuated hand containing 3 fingers and every finger with 3-DOF, driven by only two actuators [21]. LISA Hand has 5 fingers and 14 DOFs, which is driven by only 5 motors [22].…”

Section: Introductionmentioning

confidence: 99%

Configuration Design of an Under-Actuated Robotic Hand Based on Maximum Grasping Space

Qiao

Liu

Guo

et al. 2018

Chin. J. Mech. Eng.

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Capture is a key component for on-orbit service and space debris clean. The current research of capture on-orbit focuses on using special capture devices or full-actuated space arms to capture cooperative targets. However, the structures of current capture devices are complex, and both space debris and abandoned spacecraft are noncooperative targets. To capture non-cooperative targets in space, a lightweight, less driven under-actuated robotic hand is proposed in this paper, which composed by tendon-pulley transmission and double-stage mechanisms, and always driven by only one motor in process of closing finger. Because of the expandability, general grasping model is constructed. The equivalent joint driving forces and general grasping force are analyzed based on the model and the principle of virtual work. Which reveal the relationship among tendon driving force, joint driving forces and grasping force. In order to configure the number of knuckles of finger, a new analysis method which takes the maximum grasping space into account, is proposed. Supposing the maximum grasped object is an envelope circle with diameter of 2.5 m. In the condition, a finger grasping maximum envelope circle with different knuckles is modeled. And the finger lengths with corresponding knuckles are calculated out. The finger length which consists of three knuckles is the shortest among under-actuated fingers consists of not more than five knuckles. Finally, the principle prototype and prototype robotic hand which consists of two dingers are designed and assembled. Experiments indicate that the under-actuated robotic hand can satisfy the grasp requirements. which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.

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A highly-underactuated robotic hand with force and joint angle sensors

Cited by 56 publications

References 11 publications

Sensors for Robotic Hands: A Survey of State of the Art

Sensors for Robotic Hands: A Survey of State of the Art

Stiffness Analysis of Underactuated Fingers and Its Application to Proprioceptive Tactile Sensing

Configuration Design of an Under-Actuated Robotic Hand Based on Maximum Grasping Space

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