The Robonaut 2 hand - designed to do work with tools

Bridgwater, Lyndon; Ihrke, C. A.; Diftler, Myron; Abdallah, Muhammad E.; Radford, Nicolaus; Rogers, James P.; Yayathi, Sandeep; Askew, R.S.; Linn, D. M.

doi:10.1109/icra.2012.6224772

Cited by 147 publications

(71 citation statements)

References 10 publications

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“…HRP-4C [6] is designed to work in human environments, uses tools like a human to manipulate objects and is able to speak and sing as an entertainment robot. It has 42 DOF, is the size of a 14-year-old adolescent, with 158 cm in height, and costs about $200,000 [7]. Mahru and Ahra [8] were developed to operate as network-based machines that can walk at a speed of 0.9 km/h (0.56 mph), talk and recognize gestures.…”

Section: Humanoids With Legged Motionmentioning

confidence: 99%

HBS-1: A Modular Child-Size 3D Printed Humanoid

Larkin

Potnuru

et al. 2016

Robotics

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An affordable, highly articulated, child-size humanoid robot could potentially be used for various purposes, widening the design space of humanoids for further study. Several findings indicated that normal children and children with autism interact well with humanoids. This paper presents a child-sized humanoid robot (HBS-1) intended primarily for children's education and rehabilitation. The design approach is based on the design for manufacturing (DFM) and the design for assembly (DFA) philosophies to realize the robot fully using additive manufacturing. Most parts of the robot are fabricated with acrylonitrile butadiene styrene (ABS) using rapid prototyping technology. Servomotors and shape memory alloy actuators are used as actuating mechanisms. The mechanical design, analysis and characterization of the robot are presented in both theoretical and experimental frameworks.

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Section: Humanoids With Legged Motionmentioning

confidence: 99%

HBS-1: A Modular Child-Size 3D Printed Humanoid

Larkin

Potnuru

et al. 2016

Robotics

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“…All the other changes are not problematic but will improve the quality of the design. To support all the sub-circuits present on Manage we need a microcontroller with: Figure 46 STM32F4 sub-families 16 The STM32F427ZI was selected because it is 180MHz and has the largest amount of memory possible. The F437 and F4x9 chips only add TFT controllers and video accelerators that are not required in our application.…”

Section: 111mentioning

confidence: 99%

FlexSEA: Flexible, Scalable Electronics Architecture for wearable robotic applications

Duval¹,

Herr²

2016

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

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The work of this thesis aims to enable the fast prototyping of multi-axis wearable robotic systems by developing a new modular electronics system. The flexible, scalable electronics architecture (FlexSEA) developed for this thesis fills the void between embedded systems used in commercial devices and in research prototypes. This system provides the required hardware and software for precise motion control, data acquisition, and networking. Scalability is obtained through the use of fast industrial communication protocols between the modules, and the standardization of the peripheral interfaces. Hardware and software encapsulation is used to provide highperformance, real-time control of the actuators while keeping the high-level control development fast, safe and simple.The FlexSEA kits are composed of two custom circuit boards (advanced brushless motor driver and microcontroller board), one commercial embedded computer, a complete software stack and documentation. During its development it has been integrated into a powered prosthetic knee as well as an autonomous ankle exoskeleton. To assess the usability of the FlexSEA kit, a new user successfully used a kit to read sensors and control an output device in less than three hours. FlexSEA simplifies and accelerates wearable robotics prototyping.

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“…A better approach would be to integrate force sensitive elements throughout the robotic hand. Both the SDM hand by Dollar et al [7] and the Robonaut 2 hand [5] have used this design approach to great success. …”

Section: Force Sensing In Robotic Grippersmentioning

confidence: 99%

Composite force sensing foot utilizing volumetric displacement of a hyperelastic polymer

Chuah

Estrada

Kim

2012

2012 IEEE/RSJ International Conference on Intelligent Robots and Systems

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In this thesis, I will describe the fabrication and characterization of a footpad based on an original principle of volumetric displacement sensing. It is intended for use in detecting ground contact forces in a running quadrupedal robot. The footpad is manufactured as a monolithic, composite structure composed of multi-graded polymers which are reinforced by glass fiber to increase durability and traction. The volumetric displacement sensing principle utilizes a hyperelastic gel-like pad with embedded magnets that are tracked with Hall-effect sensors. Normal and shear forces can be detected as contact with the ground which causes the gel-like pad to deform into rigid wells. This is all done without the need to expose the sensor. A one-time training process using an artificial neural network was used to relate the normal and shear forces with the volumetric displacement sensor output. The sensor was shown to predict normal forces in the Z-axis up to 80N with a root mean squared error of 6.04% as well as the onset of shear in the X and Y-axis. This demonstrates a proof-of-concept for a more robust footpad sensor suitable for use in all outdoor conditions.

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The Robonaut 2 hand - designed to do work with tools

Cited by 147 publications

References 10 publications

HBS-1: A Modular Child-Size 3D Printed Humanoid

HBS-1: A Modular Child-Size 3D Printed Humanoid

FlexSEA: Flexible, Scalable Electronics Architecture for wearable robotic applications

Composite force sensing foot utilizing volumetric displacement of a hyperelastic polymer

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