Design of the TUAT/Karlsruhe humanoid hand

Fukaya, Naoki; Toyama, Shigeki; Asfour, Tamim; Dillmann, Rüdiger

doi:10.1109/iros.2000.895225

Cited by 157 publications

(89 citation statements)

References 7 publications

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“…In Table 1, it is found that value of CoUAM for this hand is 0.667 which is less than the value of CoUAM of every study in red zone. In 2002, TUAT/Karlsruhe Humanoid Hand [18] with five fingers and 20 DOFs is developed, which is driven by only one actuator. This hand can grasp the objects self adaptively according to the shape of the object.…”

Section: Yellow Zone Studiesmentioning

confidence: 99%

“…Some use one motor to control one DOF (which is not an underactuated mechanism), whereas in some approaches one motor is used to control multi DOFs. In TUAT/Karlsruhe Humanoid Hand [18] only one motor is used for the whole hand. Thus different approaches are there for the underactuated mechanism but to find some factor by which a better technique of using the number of motors to DOFs is calculated.…”

Section: Introductionmentioning

confidence: 99%

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A Novel Approach for Classification of Underactuated Mechanism in Myoelectric Hand

Mariappan¹,

Jan²,

Iftikhar³

2012

AJBE

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Concept of underactuation makes it possible to create such robotic hands that automatically adapt to the shape of the grasped object without using a complex control system or a large number of actuators. In underactuated hand prostheses, depending upon control strategy used, one can get more and more degree of freedoms (DOFs) to make its prosthetic device more versatile and easy to control. In spite of all the great work done by the researchers on underactuated prosthetic hands, no one has given any relationship between the number of motors (or actuators) and the number of degree of freedoms (DOFs). This novel concept named as "Coefficient of UAM" (CoUAM) is "the ratio between numbers of motors to the number of DOFs". By reviewing various known studies, CoUAM of randomly selected prosthetic hands is calculated separately and analyzed merits/demerits, cost, weight, appearance, ease of controllability and their functionality to make this approach more objective and useful for the future researchers. Hence target of this paper is to assess a Coefficient of UAM (CoUAM) of different types of prostheses available and then classify them into red, green and yellow zones.

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Section: Yellow Zone Studiesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

A Novel Approach for Classification of Underactuated Mechanism in Myoelectric Hand

Mariappan¹,

Jan²,

Iftikhar³

2012

AJBE

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“…The Tuat/Karlsruhe Hand [14]. This hand is designed with 24 joints and 1 DoF controlled, and it is able to do circular power grasps.…”

Section: A Simplified Hand Models From 1 To 6 Degrees Of Freedommentioning

confidence: 99%

Simplified human hand models based on grasping analysis

Cobos

Ferré

Aracil

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-The purpose of this paper is to analyze in some depth the kinematic behaviour of the human hand, in order to obtain simplified human hand models with the minimum and optimal number of Degrees of Freedom (DoF), and thus achieving an efficient manipulation task. The statistical analysis is carried out using Principal Components Analysis (PCA). Power and precision grasps are obtained with the use of a Cyberglove and a human hand model with 24 DoF. Finally, these experiments are used to evaluate the best DoF for an appropriate manipulation.

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“…In the last few decades, several robotic hands have been developed such as, for example, Stanford/JPL Hand [2], DLR Hand [3], BUAA Hand [4], Colobi Hand [5], Barrett Hand [6,7], TUAT/Karlsruhe Hand [8], Turin Hand [9], TBM Hand [10], MA-I Hand [11], SARAH Hand [12,13], MIT Hand [14] and the RCH-1 Hand [15].…”

Section: Introductionmentioning

confidence: 99%

Performance Comparison Between FEDERICA Hand and LARM Hand

Carbone

Rossi²,

Savino³

2015

International Journal of Advanced Robotic Systems

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This paper describes two robotic hands that have been developed at University Federico II of Naples and at the University of Cassino. FEDERICA Hand and LARM Hand are described in terms of design and operational features. In particular, careful attention is paid to the differences between the above-mentioned hands in terms of transmission systems. FEDERICA Hand uses tendons and pulleys to drive phalanxes, while LARM Hand uses cross four-bar linkages. Results of experimental tests are reported to show how key design issues affect each robotic hand's performance.

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Design of the TUAT/Karlsruhe humanoid hand

Cited by 157 publications

References 7 publications

A Novel Approach for Classification of Underactuated Mechanism in Myoelectric Hand

A Novel Approach for Classification of Underactuated Mechanism in Myoelectric Hand

Simplified human hand models based on grasping analysis

Performance Comparison Between FEDERICA Hand and LARM Hand

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