Selectively compliant underactuated hand for mobile manipulation

Aukes, Daniel M.; Kim, Susan; García, Pablo López; Edsinger, Aaron; Cutkosky, Mark R.

doi:10.1109/icra.2012.6224738

Cited by 57 publications

(31 citation statements)

References 19 publications

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“…A variable impedance control allows for having a variable virtual output impedance, as illustrated by the Variable Impedance Differential Actuator (VIDA) in robotics [148]. Electrostatic brakes are used for locking the joints of a robotic hand in a given configuration [149], creating a shape-locking effect and an increase of stiffness through the locking of the joints.…”

Section: Mechanical Solutionsmentioning

confidence: 99%

Flexible Medical Devices: Review of Controllable Stiffness Solutions

2017

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Abstract:In the medical field and in soft robotics, flexible devices are required for safe human interaction, while rigid structures are required to withstand the force application and accuracy in motion. This paper aims at presenting controllable stiffness mechanisms described in the literature for applications with or without shape-locking performances. A classification of the solutions based on their working principle is proposed. The intrinsic properties of these adaptive structures can be modified to change their mechanical characteristics from a geometrical point of view or equivalent elastic properties (with internal mechanisms or with a change in material properties). These solutions are compared quantitatively, based on selected criteria linked to the medical field as the stiffness range, the activation time and the working conditions. Depending on the application and its requirements, the most suitable solution can be selected following the quantitative comparisons. Several applications of these tunable stiffness structures are proposed and illustrated by examples of the literature.

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Section: Mechanical Solutionsmentioning

confidence: 99%

Flexible Medical Devices: Review of Controllable Stiffness Solutions

2017

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“…In addition, they examined the response of the system using different strands with different properties such as stiffness and strand diameter. Based on the twisted cable actuating system, Aukes et al [12] have developed a multi-fingered robotic hand, which is able to grasp multiple objects and conform to their shapes. In this design, three independent degrees of freedom in the finger can be driven by only a single actuator.…”

Section: Introductionmentioning

confidence: 99%

Design and fabrication of an assistive device for arm rehabilitation using twisted string system

Shisheie

Jiang

Banta

et al. 2013

2013 IEEE International Conference on Automation Science and Engineering (CASE)

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In this research the twisting cable mechanism was employed to design and develop a light elbow assistive robot. A particular type of fishing line was experimentally tested for use as the strand material, and the behavior was compared to the proposed model. A correction parameter called effective diameter was derived to adapt the model to the experimental data. To ensure the consistency of the model, hysteresis of twostrand cables was tested. A curve was fitted to the experimental data and the most linear range was selected to be used in the mechanism. Moreover, a single degree of freedom elbow mechanism for flexion and extension was designed and constructed. Ultimately, to ensure the applicability of the mechanism, an ordinary Activity of Daily Living (ADL) was used and the angle of the twisted strand actuator motor as a function of the motor rotation was computed.R. Shisheie is with the ). important role in performance and functionality of active rehabilitation robotic systems. However, different transmission mechanisms, such as cable actuators, gear drives, linked mechanisms and gear drives, direct drives, tendon drives, slip clutches, pneumatic drives, hydraulic actuators, and their combinations [3] have been adopted in various scenarios. Among all these actuation systems, cable/tendon actuation devices have been used widely for force transmission (in particular for joints that are placed far away from actuation devices) in the past two decades.

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“…Some are based on linkages [3]- [5], some are based on tendon-actuated mechanisms [6]- [8], while others are based on flexible actuators [9]- [11]. Due to the self-adaptation to the object grasped, the under-actuated hands have well compliance in limited inputs [12].…”

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confidence: 99%

Mechanical Implementation of Kinematic Synergy for Continual Grasping Generation of Anthropomorphic Hand

Chen

Yue

2015

IEEE/ASME Trans. Mechatron.

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Abstract-The synergy-based motion generation of current anthropomorphic hands generally employ the static posture synergy, which is extracted from quantities of joint trajectory, to design the mechanism or control strategy. Under this framework, the temporal weight sequences of each synergy from pregrasp phase to grasp phase are required for reproducing any grasping task. Moreover, the zero-offset posture has to be preset before starting any grasp. Thus, the whole grasp phase appears to be unlike natural human grasp. Up until now, no work in the literature addresses these issues toward simplifying the continual grasp by only inputting the grasp pattern. In this paper, the kinematic synergies observed in angular velocity profile are employed to design the motion generation mechanism. The kinematic synergy extracted from quantities of grasp tasks is implemented by the proposed eigen cam group in tendon space. The completely continual grasp from the fully extending posture only require averagely rotating the two eigen cam groups one cycle. The change of grasp pattern only depends on respecifying transmission ratio pair for the two eigen cam groups. An illustrated hand prototype is developed based on the proposed design principle and the grasping experiments demonstrate the feasibility of the design method. The potential applications include the prosthetic hand that is controlled by the classified pattern from the bio-signal.Index Terms-Anthropomorphic hand, design principle, kinematic synergy, mechanical implementation.

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Selectively compliant underactuated hand for mobile manipulation

Cited by 57 publications

References 19 publications

Flexible Medical Devices: Review of Controllable Stiffness Solutions

Flexible Medical Devices: Review of Controllable Stiffness Solutions

Design and fabrication of an assistive device for arm rehabilitation using twisted string system

Mechanical Implementation of Kinematic Synergy for Continual Grasping Generation of Anthropomorphic Hand

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