Force/position control with bounded actions on a dexterous robotic hand with two-degree-of-freedom fingers

Rojas-García, Lina; Chávez-Olivares, César; Bonilla-Gutiérrez, Isela; Mendoza-Gutiérrez, M. O.; Ramírez-Cardona, Fernando

doi:10.1016/j.bbe.2021.12.006

Cited by 7 publications

(3 citation statements)

References 26 publications

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“…The rigid robotic hand, including some rigid components (links or joints), can achieve dexterous movement and precise control under the effect of transmission devices and motors. [1][2][3] Once one of the transmission devices or motors is broken, the total rigid robotic hand will be difficult to move. In addition, the precise design and complicated assembly process will consume vast amounts of labor and material.…”

Section: Introductionmentioning

confidence: 99%

A facile fabricating method for smart soft robotic hand

Yao

Zhou

2022

Polymer Engineering & Sci

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A facile fabricating method was proposed for a smart soft robotic hand (SSRH) composed of shape memory alloy (SMA) wires, stainless‐steel springs, and silicon rubber matrix by one‐step curing technology. The SMA wires were embedded into a flexible matrix by pouring silicon rubber into a 3D‐printed hand‐like polylactic acid mold. The good demoulding property was verified after curing at room temperature for 6 h. In addition, the reversible bending behaviors of SSRH were demonstrated by Joule heating actuation. Moreover, the high load‐bearing capability was evaluated by suspending the weight experiment. All the results can provide a new guide for soft robotic hands in future medicinal applications.

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Section: Introductionmentioning

confidence: 99%

A facile fabricating method for smart soft robotic hand

Yao

Zhou

2022

Polymer Engineering & Sci

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“…Compliant control, as a vital link in formulating control rules in HRI, is essential to coordinate the relationship between human operators and robots aiming to achieve consensus in the interaction process. According to the different modeling methods, compliant control can be divided into hybrid position/force control (Rojas-García et al. , 2022), impedance control (Farhadiyadkuri et al.…”

Section: Introductionmentioning

confidence: 99%

Human-robot collaborative assembly of movable airfoils using adaptive admittance control

Shen¹,

Li²,

Tian³

et al. 2022

JIMSE

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PurposeWith the increasing requirements for intelligence in the field of aviation manufacturing, manual assembly can hardly adapt to the trend of future production. The purpose of this study is to realize the semi-automatic assembly of the movable airfoil by proposing a human-robot collaborative assembly strategy based on adaptive admittance control.Design/methodology/approachA logical judgment system for operating intentions is introduced in terms of different situations of the movements; hence, a human cognition-based adaptive admittance control method is developed to curb the damage of inertia; then virtual limit walls are raised on the periphery of the control model to ensure safety; finally, simulated and experimental comparisons with other admittance control methods are conducted to validate the proposed method.FindingsThe proposed method can save at least 28.8% of the time in the stopping phase which effectively compensates for inertia during the assembly process and has high robustness concerning data disturbances.Originality/valueDue to the human-robot collaboration to achieve compliant assembly of movable airfoils can preserve human subjectivity while overcoming the physical limits of humans, which is of great significance to the investigation of intelligent aircraft assembly, the proposed method that reflects the user's naturalness and intuitiveness can not only enhance the stability and the flexibility of the manipulation, but also contribute to applications of industrial robots in the field of human-robot collaboration.

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“…The proposed technique is also capable of effectively filtering out the noise and disturbances. Rojas-Garca et al (2022) demonstrated the design and experimental characterization of a dexterous robotic hand with fingers having 2 degrees of freedom (DOFs). This approach is meant to be used to operate a robotic hand, for which a 10-degree-of-freedom (10-DOF) prosthetic hand was developed and implemented effectively.…”

Section: Introductionmentioning

confidence: 99%

Bond graph modeling with linear quadratic integral control synthesis of a robotic digit in a human impaired hand for anthropomorphic coordination

Iqbal

Imtiaz

Mahmood

2022

Transactions of the Institute of Measurement and Control

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The movement coordination of the robotic digit(s) with the central nervous system (CNS) and the natural digit(s) is a complex task that needs to be executed successfully in an anthropomorphic hand. The task is challenging to resolve because of the CNS. We developed a theoretical framework for the biomechanical model of a partially impaired human hand utilizing the bond graph modeling technique by incorporating inertia, muscle, and visco-elastic dynamics. The research presents a partially impaired human hand model with a robotic digit and four natural digits having 21 degrees of freedom. We formulated a linear quadratic Gaussian (LQG) integral control technique for the 21st-order model to regulate the flexion and extension movement of the robotic digit while considering the disturbances. We have simulated the modeling scheme in MATLAB/Simulink. The flexion and extension movement and the angular velocity of the robotic finger are shown to be following all the physiological constraints of a natural finger. The settling time is achieved at 1.6 seconds, with a maximum flexion angle of 0.135 rad. The sensitivity analysis shows that the model is robust against disturbances. The simulation results exhibit the application of this scheme toward upper limb rehabilitation and improvement in prosthetic and exoskeleton designs.

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Force/position control with bounded actions on a dexterous robotic hand with two-degree-of-freedom fingers

Cited by 7 publications

References 26 publications

A facile fabricating method for smart soft robotic hand

A facile fabricating method for smart soft robotic hand

Human-robot collaborative assembly of movable airfoils using adaptive admittance control

Bond graph modeling with linear quadratic integral control synthesis of a robotic digit in a human impaired hand for anthropomorphic coordination

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