The UB Hand II control system: design features and experimental results

Eusebi, A.; Fantuzzi, Cesare; Melchiorri, Claudio; Sandri, Monica; Tonielli, A.

doi:10.1109/iecon.1994.397885

Cited by 17 publications

(4 citation statements)

References 11 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…In parallel to the development of tactile sensors, the robotics community has produced a vast amount of research on hand design. Hand design is typically application-driven, leading to different arrangements ranging from simple two-finger grippers to complex contraptions that mimic the mechanics of the human hand (Eusebi et al, 1994; Ramos et al, 1999; Townsend, 2000; Butterfaß et al, 2001). This paper presents the case of a four-finger under-actuated hand (Cam-Hand) that endows Jet Propulsion Laboratory's (JPL) quadruped RoboSimian robot with both manipulation and versatile mobility capabilities (Hebert et al, 2015; Karumanchi et al, 2018).…”

Section: Introductionmentioning

confidence: 99%

Tactile Sensing and Control of Robotic Manipulator Integrating Fiber Bragg Grating Strain-Sensor

et al. 2019

View full text Add to dashboard Cite

Tactile sensing is an instrumental modality of robotic manipulation, as it provides information that is not accessible via remote sensors such as cameras or lidars. Touch is particularly crucial in unstructured environments, where the robot's internal representation of manipulated objects is uncertain. In this study we present the sensorization of an existing artificial hand, with the aim to achieve fine control of robotic limbs and perception of object's physical properties. Tactile feedback is conveyed by means of a soft sensor integrated at the fingertip of a robotic hand. The sensor consists of an optical fiber, housing Fiber Bragg Gratings (FBGs) transducers, embedded into a soft polymeric material integrated on a rigid hand. Through several tasks involving grasps of different objects in various conditions, the ability of the system to acquire information is assessed. Results show that a classifier based on the sensor outputs of the robotic hand is capable of accurately detecting both size and rigidity of the operated objects (99.36 and 100% accuracy, respectively). Furthermore, the outputs provide evidence of the ability to grab fragile objects without breakage or slippage e and to perform dynamic manipulative tasks, that involve the adaptation of fingers position based on the grasped objects' condition.

show abstract

Section: Introductionmentioning

confidence: 99%

Tactile Sensing and Control of Robotic Manipulator Integrating Fiber Bragg Grating Strain-Sensor

et al. 2019

View full text Add to dashboard Cite

show abstract

“…In highly unstructured environments the maximum velocity of most robotic hand arm systems is limited by the ability of the hand to withstand impacts . Hand developers built many robotic hands targeted for the use in service robotics [4], [5], (6), [7], [8], [9], [10], [11] but only few have been using variable stiffness to enhance robustness and dynamics of the hand. The ACT hand focuses on research in terms of functionality, control and surgery.…”

Section: Introductionmentioning

confidence: 99%

Antagonistically driven finger design for the anthropomorphic DLR Hand Arm System

Grebenstein

Chalon

Hirzinger

et al. 2010

2010 10th IEEE-RAS International Conference on Humanoid Robots

113

View full text Add to dashboard Cite

The DLR Hand Arm System is a highly dynamic and fully integrated mechatronic system which uses an anthropomorphic design. It exhibits impressive robustness by using a complete variable stiffness actuation paradigm. It aims at reaching the human archetype in most of its performances and its design. The methodology consists in understanding the human archetype on a functional basis rather than to copy it. However, the design is driven by two antipodal concepts: On one hand, the design has to be simple, robust, and easy to maintain. On the other hand it must be anthropomorphic in shape and size but also, more importantly, in functionality.The paper presents a finger design that combines a reduced diversity of parts with the need to build five kinematically different fingers. The fingers are protected against overload by allowing subluxation of the joints. The tendon routing allows for an antagonistic actuation and is optimized to minimize friction and wear. The resulting combination of the link design and the antagonistic actuation is shown to be robust against impacts as well as highly dynamic. They achieve the targeted maximum fingertip force of 30 N in stretched out configuration. The use of antagonistic drives enables to tackle problems of tendon overstretching and slackening that commonly encounter in tendon driven mechanisms. Due to the enhanced capabilities and, in especial, its robustness, the application developers can focus on the use of innovative grasping and manipulation strategies instead of worrying about the integrity of a costly robotic systems. The possibility of storing energy in the elastic elements of the drive opens new opportunities to perform dynamics based actions (e.g, snapping fingers).

show abstract

“…As a key part of the robot, the end-effector is more and more anthropomorphic and dexterous [1][2][3][4][5][6][7][8][9][10], which is called robotic hand commonly now.…”

Section: Introductionmentioning

confidence: 99%

“…With the advancement in automation and information technology, application of robotics has been spread from traditional industrial to the modern industrial, agricultural, medical, education, entertainment, aerospace, military fields and etc. As a key part of the robot, the end-effector is more and more anthropomorphic and dexterous [1][2][3][4][5][6][7][8][9][10], which is called robotic hand commonly now.…”

Section: Introductionmentioning

confidence: 99%

Analysis of Multi-Fingered Grasp and Manipulation of Ping-Pong Racket

Liu

Leng

Wang

et al. 2011

AEF

View full text Add to dashboard Cite

Abstract. According to the human playing of ping-pong racket, this paper originally analyzes the multi-fingered grasping and manipulating of ping-pong racket and points out the three aspects have to be studied to make sure the grasp is stable and the manipulation is dexterous. Two of those three aspects are studied respectively: the least needed number and the distribution of degrees of the multi-fingered hand is determined at first; then the kinematic planning for robotic hand grasping ping-pong racket is studied, and a new method is proposed to selected the right solution in the planning. The simulation result in the end proofs that the kinematic planning and the method are right and effective.

show abstract

The UB Hand II control system: design features and experimental results

Cited by 17 publications

References 11 publications

Tactile Sensing and Control of Robotic Manipulator Integrating Fiber Bragg Grating Strain-Sensor

Tactile Sensing and Control of Robotic Manipulator Integrating Fiber Bragg Grating Strain-Sensor

Antagonistically driven finger design for the anthropomorphic DLR Hand Arm System

Analysis of Multi-Fingered Grasp and Manipulation of Ping-Pong Racket

Contact Info

Product

Resources

About