A planar geometric design approach for a large grasp range in underactuated hands

Kragten, Gert A.; Helm, F.C.T. van der; Herder, Just L.

doi:10.1016/j.mechmachtheory.2011.03.004

Cited by 33 publications

(21 citation statements)

References 10 publications

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“…By designing the optimal shape of a finger, even an underactuated hand can have a stable grasp for a range of objects (Kragten and Herder 2010). Underactuated robot hands as developed at TU Delft are able to grasp a vast range of objects with minimal activation due to the coupling of the joints (Kragten et al 2011).…”

Section: Introductionmentioning

confidence: 99%

Human hand modelling: kinematics, dynamics, applications

et al. 2012

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An overview of mathematical modelling of the human hand is given. We consider hand models from a specific background: rather than studying hands for surgical or similar goals, we target at providing a set of tools with which human grasping and manipulation capabilities can be studied, and hand functionality can be described. We do this by investigating the human hand at various levels: (1) at the level of kinematics, focussing on the movement of the bones of the hand, not taking corresponding forces into account; (2) at the musculotendon structure, i.e. by looking at the part of the hand generating the forces and thus inducing the motion; and (3) at the combination of the two, resulting in hand dynam- ics as well as the underlying neurocontrol. Our purpose is to not only provide the reader with an overview of current human hand modelling approaches but also to fill the gaps with recent results and data, thus allowing for an encompassing picture.

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Section: Introductionmentioning

confidence: 99%

Human hand modelling: kinematics, dynamics, applications

et al. 2012

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“…As there is only one control signal available, to control the multiple DoF's of the hand, the hand is by definition underactuated [30,31]. To obtain stable grasping in both pinch and power grasp tasks, without ejecting the grasped object, the torque ratio between MCP and PIP joint should be around 0.5 [32]. The thumb of the hand should be opposable to the fingers, to enable a pinch grip with one or two fingers.…”

Section: -Articulating Fingersmentioning

confidence: 99%

The Lightweight Delft Cylinder Hand: First Multi-Articulating Hand That Meets the Basic User Requirements

Smit

Plettenburg

Helm

2015

IEEE Trans. Neural Syst. Rehabil. Eng.

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-Rejection rates of upper limb prostheses are high (23-45%). Amputees indicate that the highest design priority should be reduction of the mass of the prosthetic device. Despite all efforts, the mass of the new prosthetic hands is 35-73% higher than that of older hands. Furthermore current hands are thicker than a human hand, they operate slower and do not provide proprioceptive force and position feedback. This study presents the Delft Cylinder Hand, a body powered prosthetic hand which mass is 55-68% lower than that of the lightest current prosthetic hands, operates faster, has an anthropomorphic shape, and provides proprioceptive force and position feedback. The hand has articulating fingers, actuated by miniature hydraulic cylinders. The articulating fingers adapt itself to the shape of the grasped object. Its functional scores are similar to that of current prosthetic devices. The hand has a higher mechanical performance than current body powered hands. It requires 49-162% less energy from the user and it can deliver a higher maximum pinch force (30-60 N).

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“…Underactuated hands provides a cheaper and lighter solution to grasping, in addition to self-adapting capability for different kinds of objects [1]. A four-bar linkage comprising middle and distal phalanx in a robotic finger can effectively imitate the coupling that exist between the proximal and distal interphalangical joints (i.e.…”

Section: Introductionmentioning

confidence: 99%

“…θ = θ + ε d,ŝ = l + ε m, ε 2 = 0, ε = 0,(2)where, θ is a rotation around the screw axis, d is translation along the same axis, l is the unit direction vector of the screw axis, and m is the moment of this screw axis with respect1 Dual vectors are dual quaternions with pure quaternions as dual and non-dual part. A pure quaternion, q is defined as q = q 1 i + q 2 j + q 3 k.…”

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confidence: 99%

Kinematic modeling of an anthropomorphic hand using unit dual quaternion

Chandra

Ramón

Mezouar

2019

2019 IEEE/SICE International Symposium on System Integration (SII)

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In this work we present the kinematic model of an anthropomorphic hand, consisting of fingers with coupled joints similar to humans, for forward and inverse kinematics computation. Additionaly, a strategy for relative pose control between the finger tips and thumb is also developed. The formulation uses geometrical analysis, and the kinematic model can easily be integrated with the kinematics of a robotic arm in order to benefit from the added redundancy. The forward and inverse kinematic formulations use unit dual-quaternion representation of screw based kinematics which ensures singularity free representation of orientation. The model hence obtained is implemented on an anthropomorphic hand for validation.

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A planar geometric design approach for a large grasp range in underactuated hands

Cited by 33 publications

References 10 publications

Human hand modelling: kinematics, dynamics, applications

Human hand modelling: kinematics, dynamics, applications

The Lightweight Delft Cylinder Hand: First Multi-Articulating Hand That Meets the Basic User Requirements

Kinematic modeling of an anthropomorphic hand using unit dual quaternion

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