Artificial Muscles Design Methodology Applied to Robotic Fingers

Ramírez, José Luis; Rubiano, Astrid; Jouandeau, Nicolas; Gallimard, Laurent; Polit, O.

doi:10.1007/978-3-319-44507-6_11

Cited by 3 publications

(5 citation statements)

References 12 publications

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“…In order to develop the tendon-based ProMain-I finger, an early "alpha" prototype of the robotic finger is introduced. The "alpha" finger prototype is a bio-inspired tendon-driven finger [28][29][30] composed of three joints: The metacarpophalangeal (MCP), the proximal interphalangeal (PIP), and the distal interphalangeal (DIP). All the joints have one DoF to perform flexion and extension.…”

Section: Soft Epicyclical Mechanismmentioning

confidence: 99%

“…Furthermore, the parameters l 1 , l 2 , and l 3 are the lengths of the proximal, medial, and distal phalanges, respectively, as shown in Figure 5. The analysis carried out using experimental data, issued from the "alpha" prototype of the robotic finger, gives us valuable and relevant information for the improvement of the finger's mechanism and actuation systems and lets us define the following functional requirements [29,30]…”

Section: Flexion Tendonmentioning

confidence: 99%

“…Chaîne articulée comprenant un unique actionneur et ensemble de chaînes articulées associées, patent number FR1656914 [31]: The invention relates to an articulated chain (1), forming, in particular, all or part of a finger, or an arm, or a leg, or a manipulator of said articulated chain (1), comprising a first member (10), a second member (20), and a flexible seam (30)-the first member (10) and the second member (20) being each attached to the flexible seam (30), which is made of a material having a Shore A hardness of between 0 and 50.…”

Section: Patentsmentioning

confidence: 99%

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Soft Driving Epicyclical Mechanism for Robotic Finger

Ramírez¹,

Rubiano²,

Castiblanco³

2019

Actuators

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Nowadays, the development or improvement of soft actuation mechanisms is a crucialtopic for the achievement of dexterous manipulation using. Then, a primary target of research is thedesign of actuation and driving devices. Consequently, in this paper, we introduce a soft drivingepicyclical mechanism that mimics human muscle behavior and fulfills motion requirements toachieve grasping gestures using a robotic finger. The prototype is experimentally assessed, andresults show that our approach has enough performance for the implementation in grasping tasks.Furthermore, we introduce the basis for a new soft epicyclical mechanism merger with shape memoryalloys to allow active stiffness control of the mechanism.

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Section: Soft Epicyclical Mechanismmentioning

confidence: 99%

Section: Flexion Tendonmentioning

confidence: 99%

Section: Patentsmentioning

confidence: 99%

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Soft Driving Epicyclical Mechanism for Robotic Finger

Ramírez¹,

Rubiano²,

Castiblanco³

2019

Actuators

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show abstract

“…In order to develop the tendon-based ProMain-I finger, an early "alpha" prototype of the robotic finger is introduced. The "alpha" finger prototype is a bio-inspired tendon-driven finger [23][24][25] composed of three joints: the metacarpophalangeal (MCP), the proximal interphalangeal (PIP) and the distal interphalangeal (DIP). All the joints have one DoF to perform flexion and extension.…”

Section: Soft Epicyclical Mechanismmentioning

confidence: 99%

“…actuation systems, and lets us define the following functional requirements [24,25]: 1. higher stiffness into the MCP joints and 2. a fixed mechanical relation between the proximal and metacarpal joints, and between the distal and metacarpal joints. Those improvements are introduced in the ProMain-I finger prototype.…”

Section: Flexion Tendonmentioning

confidence: 99%

Soft Driving Epicyclical Mechanism for Robotic Finger

Arias¹,

Rubiano²,

Moreno³

2019

Preprint

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Nowadays, the development or improvement of actuation mechanisms is a crucial topic for the achievement of dextrous manipulation using soft robots. Then, a primary target of research is the design of actuation and driving devices. Consequently, in this paper, we introduce a soft driving epicyclical mechanism that mimics human muscle behavior and fulfills motion requirements to achieve grasping gestures using a robotic finger. The prototype is experimentally assessed, and results show that our approach has enough performance for the implementation in grasping tasks. Furthermore, we introduce the basis for a new soft epicyclical mechanism merger with shape memory alloys to allow active stiffness control of the mechanism.

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Kinematic model and analysis of an anthropomorphic robotic finger

Mihalev

Yordanov

2021

2021 International Conference Automatics and Informatics (ICAI)

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Artificial Muscles Design Methodology Applied to Robotic Fingers

Cited by 3 publications

References 12 publications

Soft Driving Epicyclical Mechanism for Robotic Finger

Soft Driving Epicyclical Mechanism for Robotic Finger

Soft Driving Epicyclical Mechanism for Robotic Finger

Kinematic model and analysis of an anthropomorphic robotic finger

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