Design and Experiment of an Anthropomorphic Robot Hand for Variable Grasping Stiffness

Park, Hyeonjun; Kim, Myunghyun; Lee, Bumjoo; Kim, Donghan

doi:10.1109/access.2021.3094060

Cited by 12 publications

(5 citation statements)

References 34 publications

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“…Based on the results obtained, Figure 6 and 7 is obtained: From Figure (6), it can be seen that as the α 2 and α 3 gradually increase, V generally shows a trend of decreasing first and then increasing. Keeping the α 3 unchanged, only increasing by α 2 , V showed a sharp downward trend; Keeping the α 2 unchanged, only increasing by α 3 , the decrease in V is not obvious, and it can be concluded that α 2 has a greater influence on the change of V. From Figure (7), it can be seen that with the gradual increase of α 2 andα 3 , the overall growth trend of U shows a large growth trend; Keeping the α 3 unchanged, only increasing by α 2 , U showed a large upward trend; Keeping α 2 unchanged, only increasing by α 3 , and U unchanged, it can be concluded that the change in U is not related to the change in α 3 .…”

Section: Mechanical Analysismentioning

confidence: 89%

“…With the weakening of the elderly, the strength of their hands decreases significantly and they cannot adapt to daily life. Some elderly people with Parkinson's syndrome or hand shaking caused by other diseases even have trouble in drinking water and eating daily things [1][2][3][4][5][6][7]. Therefore, we designed "wearable articulated manipulator to assist the elderly grasp" to help the elderly overcome this problem to a certain extent.…”

Section: Introductionmentioning

confidence: 99%

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Design and modeling of a wearable articulated manipulator to assist the elderly grasp

Liu

et al. 2023

Preprint

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Purpose –With the weakening of the body of the elderly, hand strength has decreased significantly, unable to adapt to daily life, some elderly people with Parkinson’s syndrome or some hand tremors caused by other diseases, and even will have trouble drinking water and eating daily small things. In order to solve the problem of grasping objects in daily life of the elderly with weak hand strength and some diseases, a wearable articulated manipulator that assists the elderly to grasp is designed. Design/methodology/approach –The design is divided into four parts: wrist part, back part of the hand, finger part and drive part. For the elderly with trembling hands, the degree of freedom is reduced at the joint point of finger movement, and the use of underdrive mechanism can make the knuckles of the mechanical finger fit the shape of the object by themselves, and when taking irregular objects, the fingers will adaptively fit the outline of the object, ensuring the stability and safety of the overall grasping to the greatest extent. Findings –Based on this design idea, a wearable articulated manipulator was designed, and mechanical analysis and kinematics analysis were carried out by designing and modeling the claw mechanism, determining the design size, and making the manipulator claw. Through the manipulator-assisted grasping and opening and lifting test tests, the practicality and safety of the designed assisted elderly grasping items are verified. Originality/value –The morphological design of each finger is designed to fit the normal human hand, and each "joint" can be fine-tuned to adapt to the finger length of different elderly people. Each finger is biomimetically designed to perfectly conform to the human skeletal structure, while the interior is covered with flexible materials to make it more comfortable for the elderly to wear. And it has stable grasping ability and adjustment ability, reflecting good adaptability and suitable for the elderly.

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Section: Mechanical Analysismentioning

confidence: 89%

Section: Introductionmentioning

confidence: 99%

Design and modeling of a wearable articulated manipulator to assist the elderly grasp

Liu

et al. 2023

Preprint

View full text Add to dashboard Cite

show abstract

“…Furthermore, another soft gripper used a fuzzy force controller to minimize the error between the measured and reference force [95]. Moreover, to control the stiffness of another gripper a variable impedance controller was used [109].…”

Section: Table VI Number Of Soft Grippers For Crops That Mention Cert...mentioning

confidence: 99%

Soft Robotic Grippers for Crop Handling or Harvesting: A Review

2022

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Nowadays, harvesting delicate and high-value fruits, vegetables and edible fungi requires a large input of manual human labor. The relatively low wages and many health problems the workforce faces make this profession increasingly unpopular. Meanwhile, robotic systems that selectively harvest crops are being developed. Whilst the moving platform, manipulator, and recognition systems of such robots are studied the past few decades, research on the gripping end of such robots is only recently growing. This study analyses the state-of-the-art of soft grippers for crop handling and harvesting, reporting their quantitative and qualitative characteristics. Seventy-eight grippers are retrieved from the academic literature and compared with each other in terms of their design and reported performance, more specifically grasping and detachment methods, materials used, type of actuators and sensors employed, and the control of the gripping procedure. In addition, the identified grippers are classified into 13 distinct soft grasping technology categories. Moreover, the retrieved papers are analyzed with respect to their publication date and country of origin to observe the recent growth in the field. Furthermore, a subset of soft grippers is identified that was tested on the task of selectively harvesting crops, where grip and detachment success rates and plant and crop damage are compared.

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“…It is impossible to operate laboratories and experiments well behind closed doors. Finally, the biology group needs more autonomy over the three-year subject teaching task arrangement and laboratory construction, but this may affect our exchanges with other schools in terms of test scores, so only if we improve ourselves first can we strive for more opportunities with space [13][14].…”

Section: Current Situation Of Biology Experiments Teachingmentioning

confidence: 99%

Experimental Teaching Design of Environmental Microbiology Based on Microalgae Culture under the Background of Big Data

2021

AJEB

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Microalgae are potential renewable biodiesel raw materials, with the advantages of high oil yield per unit, no competition with farmland, and synergistic carbon dioxide fixation. However, microalgal biodiesel has not been widely commercialized so far, and the high cost of cultivation and recovery makes its product price less competitive with traditional petrochemical diesel. The main purpose of this paper is to study the design of experimental teaching of environmental microbiology based on the content of microalgae cultivation in the context of big data. Based on the analysis of the current situation of biology experiment teaching, this paper decides to adopt the method of design experiment teaching to carry out biology experiment teaching in high school. Experiments show that the impact of teaching on students' biological learning accounts for 31%, ranking after personal interests, which not only shows that teaching has a very important position in the factors that affect students' biological learning, but also shows that teaching is interesting, scientific, and diverse. Sex needs to be improved to further promote students' interest in biology.

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Design and Experiment of an Anthropomorphic Robot Hand for Variable Grasping Stiffness

Cited by 12 publications

References 34 publications

Design and modeling of a wearable articulated manipulator to assist the elderly grasp

Design and modeling of a wearable articulated manipulator to assist the elderly grasp

Soft Robotic Grippers for Crop Handling or Harvesting: A Review

Experimental Teaching Design of Environmental Microbiology Based on Microalgae Culture under the Background of Big Data

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