Preshape induced grasp controller for dextrous manipulation with a multifingered robot hand

Baysal, Cabbar Veysel; Erkmen, Aydan M.

doi:10.1109/icmech.2004.1364416

Cited by 4 publications

(3 citation statements)

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“…Structure and functions. RoboVISION stands for implementing a software module, tracing sequence, shape recognition, measurement, and 3D model generation of an object, in a gripping strategy structure destined to anthropomorphic grippers for robots [3,4,5]. This application has several tasks as seen in Fig.…”

Section: Robovision Software Module For Graspable Objects Image Proce...mentioning

confidence: 99%

Software Module for Objects Shape Tracing and Recognition before Gripping

Stareţu

Itu

2012

AMR

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This paper presents the general structure, implementation features and a software module for tracing, visualization, shape recognition, measurement and efficiency evaluation for 3D model generation of objects to grip by an anthropomorphic gripper. Viewing is possible with an advanced video camera and shape recognition is possible through classifiers method. After setting the object shape, the gripper will approach the target, and its displacement is measured. Implementation, and how to work with the software designed are possible in several steps that are specified and described. The performance evaluation of the software system is based on a series of external factors, the most important being: light conditions; quality of video device; capture size; the human factor through a series of experiments focused on the system's ability to cope with external factors above mentioned.

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Section: Robovision Software Module For Graspable Objects Image Proce...mentioning

confidence: 99%

Software Module for Objects Shape Tracing and Recognition before Gripping

Stareţu

Itu

2012

AMR

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“…The goal of this paper is to detail a design strategy that can be directly applied to most of the existing anthropomorphic robotic hands with little effort or modification. Although, there are other important factors like visual feedback [18], fingertip position [19], and hand preshape [20], [21] which affect object manipulation, we are interested in how the design of the artificial skin itself can potentially improve the functionality of a robotic hand. In the following sections our proposed design methods are explained, then the importance of fingertip shape on precision grip and the future work are addressed.…”

Section: Introductionmentioning

confidence: 99%

Design of artificial skin with integrated tactile sensors for anthropomorphic robotic hands

Dellon

Matsuoka

2011

2011 IEEE International Conference on Robotics and Biomimetics

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In order to provide anthropomorphic robotic hands with adequate frictional contact and proper tactile sensing during dexterous manipulation it is necessary to develop artificial skin that is easy-to-implement and compatible with existing designs of robotic hands. In this paper, we detail the design of a set of artificial skin pads that can accommodate a complex surface topology for a variety of robotic hands. The multilayered artificial skin is composed of deformable thermoplastic, 3D printed frame, force sensing tactile element (sensel), and a silicon rubber epidermis. The prototyping process makes the most of 3D printing technology, and takes important factors such as maintainability and modification into consideration. A unique design for the thumb web is proposed, a crucial component for stabilizing tools and trigger operated tasks. We also address the importance of biomimetically replicating the tapered fingertip of the human hand based on an analysis of stiffness at distal joints of a robotic hand while performing a precision grip. Overall, we show our skin design to be adaptable to different design constraints.

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“…In the absence of haptic feedback, the anthropomorphic manipulator would either be too weak to handle heavy-rigid objects or too strong for light-fragile objects. According to recent publications on the subject, one of the major problems that remains to be solved is the determination of an appropriate pre-shape and its stability for grasping the object under a given manipulation and task [5]. Anthropomorphic robots with haptic feedback have great potential when using a real-time web-based monitoring system to greatly enhance the capability of the clinician to direct rehabilitation therapies [6].…”

Section: Introductionmentioning

confidence: 99%