Novel Optimization Approach to Development of Digit Mechanism for Bio-Inspired Prosthetic Hand

Borisov, Ivan I.; Borisov, Oleg I.; Monich, Daniil S.; Dodashvili, Tariel A.; Kolyubin, Sergey A.

doi:10.1109/biorob.2018.8487885

Cited by 3 publications

(3 citation statements)

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“…2, (a) shows a bending sequence of a finger that conducts a parallel grasp. For example, that motion is needed for a thumb of a prosthetic hand [20] or industrial gripper [21]. Fig.…”

Section: A Defining An Open-chain Linkagementioning

confidence: 99%

“…where s is the angle between OD and a vertical drawn via point O measured in rad clockwise. In [20], [24], [25] we discuss the desired trajectories of an output link for adaptive grippers and anthropomorphic hands in more details.…”

Section: Parametric Optimizationmentioning

confidence: 99%

“…Thus, extra control for VLL is not needed, and VLL can change its length due to holonomic constraints and external forces applied to output links. More details are given in [20].…”

Section: E Variable Length Linksmentioning

confidence: 99%

See 2 more Smart Citations

Computational Design of Reconfigurable Underactuated Linkages for Adaptive Grippers

Borisov

Khomutov

Kolyubin

2021

2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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We present an optimization-based structuralparametric synthesis method for reconfigurable closed-chain underactuated linkages for robotic systems that physically interact with the environment with an emphasis on adaptive grasping. The key idea is to implement morphological computation concepts to keep both necessary trajectory-specific holonomic constraints and mechanism adaptivity using variable length links (VLL), while we evolve from a fully actuated to an underactuated system satisfying imposed design requirements. It allows to minimize the number of actuators, weight, and cost but keep high payload and endurance that are not reachable by tendon-driven designs. Despite the method is general enough, for clarity, we demonstrate its use on a number of finger mechanisms for adaptive grippers.

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“…2, (a) shows a bending sequence of a finger that conducts a parallel grasp. For example, that motion is needed for a thumb of a prosthetic hand [20] or industrial gripper [21]. Fig.…”

Section: A Defining An Open-chain Linkagementioning

confidence: 99%