Object manipulation in 3d space by two cone-shaped finger robots based on finger-thumb opposability without object sensing

Kim, Sung-Kyun; Oh, Yonghwan; Oh, Sang-Rok

doi:10.1109/icra.2012.6225198

Cited by 3 publications

(2 citation statements)

References 13 publications

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“…Our thumb plays a crucial role while manipulating complex pre-held objects [6] as it covers a wide range of motion when engaged. Many robotic hands implement the thumb as two hinge joints that are mounted off-axis with respect to the long fingers [7], to emulate the thumb capabilities, yet these causes un-naturalistic motions and the assumption that baseframe location movement is needed.…”

Section: Introductionmentioning

confidence: 99%

EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation

Konnaris¹,

Gavriel²,

Thomik³

et al. 2016

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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Abstract-Our dexterous hand is a fundmanetal human feature that distinguishes us from other animals by enabling us to go beyond grasping to support sophisticated in-hand object manipulation. Our aim was the design of a dexterous anthropomorphic robotic hand that matches the human hand's 24 degrees of freedom, under-actuated by seven motors. With the ability to replicate human hand movements in a naturalistic manner including in-hand object manipulation. Therefore, we focused on the development of a novel thumb and palm articulation that would facilitate in-hand object manipulation while avoiding mechanical design complexity. Our key innovation is the use of a tendon-driven ball joint as a basis for an articulated thumb. The design innovation enables our underactuated hand to perform complex in-hand object manipulation such as passing a ball between the fingers or even writing text messages on a smartphone with the thumb's end-point while holding the phone in the palm of the same hand. We then proceed to compare the dexterity of our novel robotic hand design to other designs in prosthetics, robotics and humans using simulated and physical kinematic data to demonstrate the enhanced dexterity of our novel articulation exceeding previous designs by a factor of two. Our innovative approach achieves naturalistic movement of the human hand, without requiring translation in the hand joints, and enables teleoperation of complex tasks, such as single (robot) handed messaging on a smartphone without the need for haptic feedback. Our simple, under-actuated design outperforms current state-ofthe-art prostheses or robotic and prosthetic hands regarding abilities that encompass from grasps to activities of daily living which involve complex in-hand object manipulation.

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Section: Introductionmentioning

confidence: 99%

EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation

Konnaris¹,

Gavriel²,

Thomik³

et al. 2016

2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)

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“…From the solution, λ * d , for (22), the optimal finger force can be obtained, and the joint torque for each finger robot is computed as in [26].…”

Section: Grasping Force Computationmentioning

confidence: 99%

Robotic handwriting: Multi-contact manipulation based on Reactional Internal Contact Hypothesis

Kim

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-When one uses a hand-held tool, the fingers often make the tool to be in contact with the palm in the form of multi-contact manipulation. Multi-contact manipulation is useful for object-environment interaction tasks because it can provide both powerful grasping of the object body and dexterous manipulation of the object end-effector. However, dealing with the internal link contact with the object is not trivial. In this paper, we propose Reactional Internal Contact Hypothesis that regards the internal contact force as a reaction force so that the desired finger force can be reduced. By taking a handwriting task as an example, optimal configuration search and grasping force computation problems are addressed based on this hypothesis and validated via dynamic simulation.

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From human motion analysis to whole-body control of a dual-arm robot for pick-and-place tasks

Kim

Lee

Hong

et al. 2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Object manipulation in 3d space by two cone-shaped finger robots based on finger-thumb opposability without object sensing

Cited by 3 publications

References 13 publications

EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation

EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation

Robotic handwriting: Multi-contact manipulation based on Reactional Internal Contact Hypothesis

From human motion analysis to whole-body control of a dual-arm robot for pick-and-place tasks

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