Finite Element Analysis and Application of a Flexure Hinge Based Fully Compliant Prosthetic Finger

Liu, Suqin; Yin, Ruixue; Chen, Ang; Zhang, Wenjun

doi:10.1007/978-981-10-6370-1_19

Cited by 5 publications

(2 citation statements)

References 11 publications

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“…Furthermore, partially compliant mechanisms are applied [32], which offer the variation of the joint stiffness [33,34]. Fully compliant mechanisms with distributed compliance can help to grip a wider range of different objects [35], while also gripper fingers based on flexure hinges made of hyperelastic elastomer material [36], thermoplastic elastomer material [37] or two different elastomer materials [38] are suggested.…”

Section: Related Workmentioning

confidence: 99%

A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch

Milojević

Linß

Ćojbašić

et al. 2020

Journal of Mechanisms and Robotics

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In soft robotics there is still a great need for a universal but simple gripper that realizes a high level of adaptability as well as a gentle touch to a wide variety of unknown objects of different size, shape, stiffness and weight without the use of sensors or vision. Various, mostly complex grippers already exist based on certain actuation concepts. However, each solution has specific limitations, especially regarding gripping different soft and delicate objects. Therefore, this paper introduces a new approach to design a simple, adaptive and versatile soft robotic two-finger gripper that is based on compliant mechanisms. More specifically, an inherently gentle touch is realized by utilizing an optimally synthesized mechanism with distributed compliance in combination with a conventional linear actuator. It is shown by FEM simulations that the gripper realizes a high force and motion transmission at the same time. Furthermore, it is demonstrated by tests with a gripper prototype that reliable, safe, and fast grasping as well as manipulation are possible for a wide variety of objects. It is shown that beside regular and stiff objects also very challenging objects can be easily gripped, e.g. small, irregular, soft, and squeezable objects like fruits, berries and vegetables. Moreover, it is confirmed that the developed compliant two-finger gripper can be used beneficially without sensors and control for differently sized and shaped objects with a comparable weight.

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Section: Related Workmentioning

confidence: 99%

A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch

Milojević

Linß

Ćojbašić

et al. 2020

Journal of Mechanisms and Robotics

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show abstract

“…Prosthetic organs, e.g., hands [1,2], are a robotic system, which has the power generator, actuator, body, sensor, and controller [3,4]. One of the important challenges with prosthetic organs, e.g., hand, is to control the prosthetic hands from the patient brain.…”

Section: Introductionmentioning

confidence: 99%

On Automated Object Grasping for Intelligent Prosthetic Hands Using Machine Learning

Odeyemi,

Ogbeyemi,

Zhang

et al. 2023

Preprint

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This paper explores the application of machine learning techniques for automated object grasping. Current electronic prosthetics often require extensive training for users to gain fine motor control over the prosthetic fingers, hindering their usability and acceptance. To address this challenge, this paper proposes an automated method that leverages computer vision-based techniques and machine learning algorithms. In this study, three reinforcement learning algorithms, namely Soft Actor-Critic (SAC), Deep Q-Network (DQN), and Proximal Policy Optimization (PPO), are employed to train agents for automated grasping tasks. The results indicate that the SAC algorithm achieves the highest success rate of 99% among the three algorithms at just under 200,000 timesteps. This research also shows that object’s physical characteristics can affect the agent’s ability to learn an optimal policy. Moreover, the findings highlight the potential of the SAC algorithm in developing intelligent prosthetic hands with automatic object gripping capabilities.

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Soft Robotic Compliant Two-Finger Gripper Mechanism for Adaptive and Gentle Food Handling

Milojević

Lins

Handroos

2021

2021 IEEE 4th International Conference on Soft Robotics (RoboSoft)

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Finite Element Analysis and Application of a Flexure Hinge Based Fully Compliant Prosthetic Finger

Cited by 5 publications

References 11 publications

A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch

A Novel Simple, Adaptive, and Versatile Soft-Robotic Compliant Two-Finger Gripper With an Inherently Gentle Touch

On Automated Object Grasping for Intelligent Prosthetic Hands Using Machine Learning

Soft Robotic Compliant Two-Finger Gripper Mechanism for Adaptive and Gentle Food Handling

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