Analysis of the multi-finger dynamics for robot hand system based on EtherCAT

Hou, Mingxin; Jiang, Li; Jin, Minghe; Liu, Hong; Chen, Zhaopeng

doi:10.1109/icnc.2014.6975987

Cited by 7 publications

(1 citation statement)

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“…Because of massive data calculation and interchange, selection of an appropriate control structure and platform, highlyintegrated hardware and software hierarchy and suitable communication protocol are critical for DRH realizing a real-time manipulation. Currently, based on EtherCAT, a real-time control design and validation platform [60] has been developed, on which a large variety of algorithms, such as the impedance control strategy with coordinated multi-finger manipulation and optimized grasping forces [61], can be been verified. For achieving delicate manipulations, the DRHs need to know necessary information about its outer environment (obstacles) and the object (stiffness, size, shape, and weight) to operate.…”

Section: Challenges and Future Workmentioning

confidence: 99%

On the development of intrinsically-actuated, multisensory dexterous robotic hands

et al. 2016

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Restoring human hand function by mechatronic means is very challenging in robotics research. In this paper, we first make a brief review on the development of dexterous robotic/prosthetic hands, and then detail our design philosophy of several robot hands. We make a concentration on a type of intrinsically-actuated robot hands, wherein the driving, transmission, and control elements are totally embedded in the hand. According to different application scenarios, we develop robot hands in two parallel lines, dexterous robotic hand and anthropomorphic prosthetic hand. In both, the hand's actuation, sensing, and control subsystems are highly integrated and modularized. This feature endows our robot hands with compact appearances, simple integration, and large flexibilities. At last, we give some perspectives on the future development of dexterous hands from the aspects of structure, functionality, and control strategies.

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Section: Challenges and Future Workmentioning

confidence: 99%