Geometric Design of Three-Phalanx Underactuated Fingers

Birglen, Lionel; Gosselin, Clément

doi:10.1115/1.2159029

Cited by 106 publications

(72 citation statements)

References 14 publications

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“…In addition to the HIT/DLR II mentioned above, the other famous UA hands such as the 15-DOF Laval hand, 12 the SDM hand, 13 and the multifunctional anthropomorphic prosthetic hands are all very representative. 14,15 In the prior researches on UA hand structures, Birglen and Gosselin 16 present a three-phalanx UA finger combining linkage mechanism and spring to achieve the self-adaptability, which allows it to adjust itself to irregularly shaped objects. While joint angles between each phalange keep fixed before the proximal phalange touches object, this is obviously not an anthropomorphical way like human.…”

Section: Introductionmentioning

confidence: 99%

A novel under-actuated bionic hand and its grasping stability analysis

Huang

Zhu

et al. 2017

Advances in Mechanical Engineering

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This article presents a novel under-actuated robot hand, which has a thumb and two cooperative fingers. The thumb has two joints with 2 degrees of freedom driven by one motor. Each of the other two fingers has the same mechanism structure with the thumb and forms a cooperative mechanism, which is driven by only one motor with 4 degrees of freedom in total. All the under-actuated fingers are designed with the transmission mechanisms based on a kind of mechanism combined with the linkage mechanism and the passive elements. In this article, it is shown that under-actuated hand is able to reproduce most of the grasping behaviors of the human hand anthropomorphically and self-adaptively, without increasing the complexity of mechanism and control. The grasping stability analysis is given to help to understand the size range and load range of a stable grasp. Finally, the experiment results verify the high efficiency and stability of the novel mechanism.

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Section: Introductionmentioning

confidence: 99%

A novel under-actuated bionic hand and its grasping stability analysis

Huang

Zhu

et al. 2017

Advances in Mechanical Engineering

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“…The analysis of the grasp stability of the finger which aims at predicting if the mobility of a self-adaptive finger will converge to a stable equilibrium or towards ejection of the object from the finger is more meaningful. Yet, this analysis is challenging especially with threephalanx fingers (Birglen and Gosselin, 2006a). In this paper, focus is placed on the analysis of a simpler two-phalanx version of the finger, using the grasp-state plane.…”

Section: Graspingmentioning

confidence: 99%

From flapping wings to underactuated fingers and beyond: a broad look to self-adaptive mechanisms

Birglen

2010

Mech. Sci.

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Abstract. In this paper, the author first reviews the different terminologies used in underactuated grasping and illustrates the current increase of activity on this topic. Then, the (probably) oldest known self-adaptive mechanism is presented and its performance as an underactuated finger is discussed. Its original application, namely a flapping wing, is also shown. Finally, it is proposed that the mechanisms currently used in underactuated grasping have actually other applications similarly to the previously discussed architecture could be used for both an underactuated finger and a flapping wing.

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“…The procedure leading to this two-phalanx design can be adapted to a finger with three phalanges by taking into account the grasp stability and the expressions of the contact forces of three-phalanx fingers (Birglen and Gosselin, 2006a). Furthermore, it should be emphasized that this method is actually not limited to one class of kinematic architectures (the class S in this example).…”

Section: Pinch Preshapingmentioning

confidence: 99%

The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers

Birglen

2011

Mech. Sci.

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Abstract. In this paper, the issue of the kinematic -as opposed to dynamic -preshaping of self-adaptive robotic fingers driven by linkages is discussed. A method to obtain designs of these fingers capable of various behaviours during their closing motions is presented. The method is based on using triggered passive elements in carefully selected joints of the finger and the selection or optimization of geometric parameters to obtain particular kinematic relationships between the motions of the phalanges. This method is very general and can be applied to any self-adaptive robotic finger in order to obtain many different types of closing motions. Examples given in this paper are focusing on two different preshaping motions, the first one aims at allowing pinch grasps while the second mimics a human finger. The fundamental aim of this paper is to show that various preshapings of self-adaptive fingers are possible, not just one, and to give two step-by-step examples.

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Geometric Design of Three-Phalanx Underactuated Fingers

Cited by 106 publications

References 14 publications

A novel under-actuated bionic hand and its grasping stability analysis

A novel under-actuated bionic hand and its grasping stability analysis

From flapping wings to underactuated fingers and beyond: a broad look to self-adaptive mechanisms

The kinematic preshaping of triggered self-adaptive linkage-driven robotic fingers

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