C-Shaped Bidirectional Stiffness Joint Design For Anthropomorphic Hand

Yan, Junxia; Zheng, Haoxian; Sun, Fuchun; Liu, Xinzhu; Song, Yixu; Fang, Bin

doi:10.1109/lra.2022.3216982

Cited by 10 publications

(4 citation statements)

References 30 publications

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“…[21] Flexure, which uses material deformation within the elastic range, has also been applied to finger joints by direct 3D printing of soft materials like thermoplastic polyurethane (TPU) or smart composite microstructure. [22][23][24][25][26][27] Flexure can also be 3D-printed in combination with other rigid materials using multi-material 3D printing. [28] For pneumatically actuated hands, soft chambers are applied in the finger joint structure for high compliance against the external environment.…”

Section: Joint Structurementioning

confidence: 99%

3D Printing in the Design and Fabrication of Anthropomorphic Hands: A Review

Park,

Chang,

Jung

et al. 2024

Advanced Intelligent Systems

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In this article, 3D‐printed anthropomorphic hands for prosthetic or robotic applications are reviewed as 3D printing has transformed manufacturing by enabling the creation of intricate structures layer by layer, offering design freedom and efficiency. This review categorizes 3D‐printed anthropomorphic hands based on actuation, transmission, joint, and functional features like sensing and grasp patterns. It also assesses the level of anthropomorphism and validation methods by presenting criteria in prosthetic and robotic applications. Then, the article discusses 3D printing technologies in their usage and types, highlighting the advantages of multi‐material capabilities and integration of different hand components. Future directions on structural components, anthropomorphism, validation, and use of 3D printing are discussed, focusing on trends that only 3D printing technology can achieve in anthropomorphic hand development.

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Section: Joint Structurementioning

confidence: 99%

3D Printing in the Design and Fabrication of Anthropomorphic Hands: A Review

Park,

Chang,

Jung

et al. 2024

Advanced Intelligent Systems

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“…Using a robot or robotic hand to grasp an object is no longer a novelty, but now, more and more works are showing adaptive grasping (grasping an object that changes in weight or adapting to external disturbances while grasping) as a valuable application. [46,[48][49][50] Benefiting from the force decoupling function, our tactile sensor can sense normal force and shear force simultaneously, which enables it to conveniently control the friction angle [arctan(Fs/Fn)] during the grasping process of the robotic hand to achieve adaptive grasping.…”

Section: Adaptive Grasping and 3d Hybrid Force Sensingmentioning

confidence: 99%

Split‐Type Magnetic Soft Tactile Sensor with 3D Force Decoupling

Dai,

Zhang,

Pan

et al. 2023

Advanced Materials

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Tactile sensory organs for sensing 3D force, such as human skin and fish lateral lines, are indispensable for organisms. With their sensory properties enhanced by layered structures, typical sensory organs can achieve excellent perception as well as protection under frequent mechanical contact. Here, inspired by these layered structures, a split‐type magnetic soft tactile sensor with wireless 3D force sensing and a high accuracy (1.33%) fabricated by developing a centripetal magnetization arrangement and theoretical decoupling model is introduced. The 3D force decoupling capability enables it to achieve a perception close to that of human skin in multiple dimensions without complex calibration. Benefiting from the 3D force decoupling capability and split design with a long effective distance (>20 mm), several sensors are assembled in air and water to achieve delicate robotic operation and water flow‐based navigation with an offset <1.03%, illustrating the extensive potential of magnetic tactile sensors in flexible electronics, human‒machine interactions, and bionic robots.

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“…Multi-fingered dexterous hands can be categorized based on the form of transmission, gear rack mechanisms [ 4 ], worm gears [ 5 ], flexible shafts [ 6 ], tendons [ 7 ], timing belts [ 8 ], linkages [ 1 ], special materials like shape memory alloys (SMAs) [ 9 ], and so on. These diverse designs and configurations enable multi-fingered dexterous hands to function effectively in different scenarios, meeting the requirements of specific operations.…”

Section: Introductionmentioning

confidence: 99%

Design and Control of a Tendon-Driven Robotic Finger Based on Grasping Task Analysis

Zhou,

Fu,

Shentu

et al. 2024

Biomimetics

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To analyze the structural characteristics of a human hand, data collection gloves were worn for typical grasping tasks. The hand manipulation characteristics, finger end pressure, and finger joint bending angle were obtained via an experiment based on the Feix grasping spectrum. Twelve types of tendon rope transmission paths were designed under the N + 1 type tendon drive mode, and the motion performance of these 12 types of paths applied to tendon-driven fingers was evaluated based on the evaluation metric. The experiment shows that the designed tendon path (d) has a good control effect on the fluctuations of tendon tension (within 0.25 N), the tendon path (e) has the best control effect on the joint angle of the tendon-driven finger, and the tendon path (l) has the best effect on reducing the friction between the tendon and the pulley. The obtained tendon-driven finger motion performance model based on 12 types of tendon paths is a good reference value for subsequent tendon-driven finger structure design and control strategies.

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C-Shaped Bidirectional Stiffness Joint Design For Anthropomorphic Hand

Cited by 10 publications

References 30 publications

3D Printing in the Design and Fabrication of Anthropomorphic Hands: A Review

3D Printing in the Design and Fabrication of Anthropomorphic Hands: A Review

Split‐Type Magnetic Soft Tactile Sensor with 3D Force Decoupling

Design and Control of a Tendon-Driven Robotic Finger Based on Grasping Task Analysis

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