OLYMPIC: A Modular, Tendon-Driven Prosthetic Hand With Novel Finger and Wrist Coupling Mechanisms

Liow, Lois; Clark, Angus B.; Rojas, Nicolás

doi:10.1109/lra.2019.2956636

Cited by 37 publications

(17 citation statements)

References 24 publications

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“…Lightweight, compact and tendon-driven underactuated schemes have becomes a principal option for functional robotic hands [14] [2] [3] [15]. One can also integrated tendons and underactuated robotic fingers as modules independent of other components [14], [16], which eases user maintenance but also makes the palm structure more complex. Soft materials can be used in the underactuated robotic hand [17] with springs between the tendons and the actuator, which greatly improved the adaptability and grasping ability of the fingers.…”

Section: Background and Related Workmentioning

confidence: 99%

BRL/Pisa/IIT SoftHand: A Low-Cost, 3D-Printed, Underactuated, Tendon-Driven Hand With Soft and Adaptive Synergies

Ford

Bianchi

et al. 2022

IEEE Robot. Autom. Lett.

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This paper introduces the BRL/Pisa/IIT (BPI) SoftHand: a single actuator-driven, low-cost, 3D-printed, tendon-driven, underactuated robot hand that can be used to perform a range of grasping tasks. Based on the adaptive synergies of the Pisa/IIT SoftHand, we design a new joint system and tendon routing to facilitate the inclusion of both soft and adaptive synergies, which helps us balance durability, affordability and grasping performance of the hand. The focus of this work is on the design, simulation, synergies and grasping tests of this SoftHand. The novel phalanges are designed and printed based on linkages, gear pairs and geometric restraint mechanisms, and can be applied to most tendon-driven robotic hands. We show that the robot hand can successfully grasp and lift various target objects and adapt to hold complex geometric shapes, reflecting the successful adoption of the soft and adaptive synergies. We intend to open-source the design of the hand so that it can be built cheaply on a home 3D-printer. For more detail: https://sites.google.com/view/bpi-softhandtactile-group-bri/brlpisaiit-softhand-design

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Section: Background and Related Workmentioning

confidence: 99%

BRL/Pisa/IIT SoftHand: A Low-Cost, 3D-Printed, Underactuated, Tendon-Driven Hand With Soft and Adaptive Synergies

Ford

Bianchi

et al. 2022

IEEE Robot. Autom. Lett.

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“…The driven method is highly relevant to the solution the dexterous hand is applied. Taking advantage of material and manufacturing solutions, there are increasing types of soft endeffectors that have been invented (Catalano et al, 2014;Melchiorri The current issue and full text archive of this journal is available on Emerald Insight at: https://www.emerald.com/insight/0143-991X.htm Tavakoli and de Almeida, 2014), and some adopt tendon-driven methods that have taken account of the maintenance issue for the user (Liow et al, 2019). Compared with the tendon-driven soft hand, the hand with soft material is also popular.…”

Section: Introductionmentioning

confidence: 99%

DoraHand: a novel dexterous hand with tactile sensing finger module

Wang

Xie²,

Li³

et al. 2022

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Purpose This study aims to introduce the DoraHand, and the basic capability and performance have been verified in this paper. Besides the idea of sharing modular design and sensor design, the authors want to deliver an affordable and practical dexterous hand to the research area to contribute to the robotic manipulation area. Design/methodology/approach This paper introduced the DoraHand, a novel scalable and practical modular dexterous hand, which, adopting modular finger and palm design, fully actuated joint and tactile sensors, can improve the dexterity for robotic manipulation and lower the complexity of maintenance. A series of experiments are delivered to verify the performance of the hand and sensor module. Findings The parameters of the DoraHand are verified and suitable for the research of robotics manipulation area, the sensing capability has been tested with the static experiment and the slip prediction algorithm. And, the advantage of modular design and extensible interface have been verified by the real application. Research limitations/implications The authors continue improving the DoraHand and extend it to more different applications. The authors want to make the DoraHand as a basic research platform in the robotic manipulation area. Practical implications The DoraHand has been sent to more than ten different research institutes for different research applications. The authors continue working on this hand for better performance, easier usage and more affordability. Social implications This kind of dexterous hand can help researchers get rid of complex physical issues and pay more attention to the algorithm part; it can help to make robotic manipulation work more popular. Originality/value The key design in the DoraHand is the modular finger and sensing module. With the special design in mechanical and electrical parts, the authors build reliable hardware and can support the diversity requirement in the robotic manipulation area. The hand with tactile sensing capability can be used in more research and applications with its extensibility.

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“…These mechanisms distribute the power of the actuator(s) evenly through the engaged joints and can be designed based on levers [8,10,14], pulleys [5], or flexible elements [9]. Additionally, underactuated robotic hands are also implemented through cabledriven designs [4,15], linkage mechanisms [16], or a combination of both methods [17], where each finger is actuated separately. These designs provide the opportunity to control each finger's movement and perform more complicated tasks, such as object manipulation.…”

Section: Introductionmentioning

confidence: 99%

A Single-Actuated, Cable-Driven, and Self-Contained Robotic Hand Designed for Adaptive Grasps

Nikafrooz

Leonessa

2021

Robotics

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Developing a dexterous robotic hand that mimics natural human hand movements is challenging due to complicated hand anatomy. Such a practical design should address several requirements, which are often conflicting and force the designer to prioritize the main design characteristics for a given application. Therefore, in the existing designs the requirements are only partially satisfied, leading to complicated and bulky solutions. To address this gap, a novel single-actuated, cable-driven, and self-contained robotic hand is presented in this work. This five-fingered robotic hand supports 19 degrees of freedom (DOFs) and can perform a wide range of precision and power grasps. The external structure of fingers and the thumb is inspired by Pisa/IIT SoftHand, while major modifications are implemented to significantly decrease the number of parts and the effect of friction. The cable configuration is inspired by the tendon structure of the hand anatomy. Furthermore, a novel power transmission system is presented in this work. This mechanism addresses compactness and underactuation, while ensuring proper force distribution through the fingers and the thumb. Moreover, this power transmission system can achieve adaptive grasps of objects with unknown geometries, which significantly simplifies the sensory and control systems. A 3D-printed prototype of the proposed design is fabricated and its base functionality is evaluated through simulations and experiments.

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OLYMPIC: A Modular, Tendon-Driven Prosthetic Hand With Novel Finger and Wrist Coupling Mechanisms

Cited by 37 publications

References 24 publications

BRL/Pisa/IIT SoftHand: A Low-Cost, 3D-Printed, Underactuated, Tendon-Driven Hand With Soft and Adaptive Synergies

BRL/Pisa/IIT SoftHand: A Low-Cost, 3D-Printed, Underactuated, Tendon-Driven Hand With Soft and Adaptive Synergies

DoraHand: a novel dexterous hand with tactile sensing finger module

A Single-Actuated, Cable-Driven, and Self-Contained Robotic Hand Designed for Adaptive Grasps

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