Force position control for a pneumatic anthropomorphic hand

Bierbaum, Alexander; Schill, Julian; Asfour, Tamim; Dillmann, Rüdiger

doi:10.1109/ichr.2009.5379579

Cited by 16 publications

(10 citation statements)

References 11 publications

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“…So we developed a reactive grasping approach for unknown objects, which uses multimodal sensor information from the vision system and the haptic sensors [12]. For gathering haptic information we use a 6-DoF force/torque sensor in the wrist, tactile sensors in the finger tips and the palm of the hand and the torque measurement of the pneumatic hand controller, which uses the joint position and the air pressure measurement for estimating the torque of the finger joint actuators [13].…”

Section: Grasping Unknown Objectsmentioning

confidence: 99%

ARMAR-III: Advances in Humanoid Grasping and Manipulation

Asfour

Vahrenkamp

Schiebener

et al. 2013

JRSJ

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Humanoid robotics research has made significant progress and will continue to play central role in robotics research and many applications of the 21st century. In our research we investigate the engineering of humanoid robots able to act in the real world, learn from human observation, interact and collaborate with humans. In this paper we present recent advances in humanoid grasping and manipulation. We describe the grasping and manipulation system implemented on the humanoid robots ARMAR-IIIa and ARMAR-IIIb [1] to endow these robots with the capability of grasping and manipulating known and unknown objects in real world tasks. Further, we present a new grasping representation in the task space which can be learned from human grasping demonstration and adapted for execution on the robot while taking the grasping task and object specific constraints into consideration.

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Section: Grasping Unknown Objectsmentioning

confidence: 99%

ARMAR-III: Advances in Humanoid Grasping and Manipulation

Asfour

Vahrenkamp

Schiebener

et al. 2013

JRSJ

Self Cite

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“…When considering the use of PMAs for the actuation of a biomimetic design, the available contraction and its direct connection to the produced contractile force play a major role on the joint design strategy. It has to be noted that the PMA technology provides a maximum of 25-30% permissible stroke, which when compared to the 50-70% of the biological muscle [14], creates challenges in producing similar motion ranges for given joint dimensions. This challenge is also intensified by the fact that the forces exerted on the PMAs during movement have a direct impact on its permissible contraction [4].…”

Section: Towards the Development Of A Lower-limb Balancing Humanoid Rmentioning

confidence: 99%

“…The same design techniques were also used in later efforts [9][10][11] for developing lower-limb humanoids for postural analysis and control but also restricted to the sagittal motion plane. Different design approaches were incorporated in the foot design for analyzing running capabilities in [12], while alternative placement for the PMA pairs in the hip-knee formations has been considered in [13,14]. The most recent efforts included the development and control of a robotic knee-ankle setup, which enabled ankle movements in both sagittal and planes by incorporating PMAs in a synergistic fashion [15,16].…”

Section: Introductionmentioning

confidence: 99%

“…A small number of human-inspired PMA-actuated leg setups have been proposed in the past fifteen years, with most related research addressing the structural design, modeling and control problems for undertaking motions mainly in the sagittal plane [6][7][8][9][10][11][12][13][14][15][16]. Specifically, [6] presented a robotic leg design with the ability to perform hip and knee 1-DOF motions, with antagonistic pairs of PMAs connected through tendons on the target joints, while the ankle joint remained passive.…”

Section: Introductionmentioning

confidence: 99%

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HUmanoid Robotic Leg via pneumatic muscle actuators: implementation and control

Ανδρικόπουλος

Nikolakopoulos

2017

Meccanica

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In this article, a HUmanoid Robotic Leg (HURL) via the utilization of pneumatic muscle actuators (PMAs) is presented. PMAs are a pneumatic form of actuation possessing crucial attributes for the implementation of a design that mimics the motion characteristics of a human ankle. HURL acts as a feasibility study in the conceptual goal of developing a 10 degree-of-freedom (DoF) lower-limb humanoid for compliance and postural control, while serving as a knowledge basis for its future alternative use in prosthetic robotics. HURL's design properties are described in detail, while its 2-DoF motion capabilities (dorsiflexion-plantar flexion, eversion-inversion) are experimentally evaluated via an advanced nonlinear PID-based control algorithm.

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“…Some are based on linkages [3]- [5], some are based on tendon-actuated mechanisms [6]- [8], while others are based on flexible actuators [9]- [11]. Due to the self-adaptation to the object grasped, the under-actuated hands have well compliance in limited inputs [12].…”

mentioning

confidence: 99%

Mechanical Implementation of Kinematic Synergy for Continual Grasping Generation of Anthropomorphic Hand

Chen

Yue

2015

IEEE/ASME Trans. Mechatron.

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Abstract-The synergy-based motion generation of current anthropomorphic hands generally employ the static posture synergy, which is extracted from quantities of joint trajectory, to design the mechanism or control strategy. Under this framework, the temporal weight sequences of each synergy from pregrasp phase to grasp phase are required for reproducing any grasping task. Moreover, the zero-offset posture has to be preset before starting any grasp. Thus, the whole grasp phase appears to be unlike natural human grasp. Up until now, no work in the literature addresses these issues toward simplifying the continual grasp by only inputting the grasp pattern. In this paper, the kinematic synergies observed in angular velocity profile are employed to design the motion generation mechanism. The kinematic synergy extracted from quantities of grasp tasks is implemented by the proposed eigen cam group in tendon space. The completely continual grasp from the fully extending posture only require averagely rotating the two eigen cam groups one cycle. The change of grasp pattern only depends on respecifying transmission ratio pair for the two eigen cam groups. An illustrated hand prototype is developed based on the proposed design principle and the grasping experiments demonstrate the feasibility of the design method. The potential applications include the prosthetic hand that is controlled by the classified pattern from the bio-signal.Index Terms-Anthropomorphic hand, design principle, kinematic synergy, mechanical implementation.

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Force position control for a pneumatic anthropomorphic hand

Cited by 16 publications

References 11 publications

ARMAR-III: Advances in Humanoid Grasping and Manipulation

ARMAR-III: Advances in Humanoid Grasping and Manipulation

HUmanoid Robotic Leg via pneumatic muscle actuators: implementation and control

Mechanical Implementation of Kinematic Synergy for Continual Grasping Generation of Anthropomorphic Hand

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