The use of underactuation in prosthetic grasping

Kyberd, Peter; Clawson, A.; Jones, Ben

doi:10.5194/ms-2-27-2011

Cited by 8 publications

(7 citation statements)

References 23 publications

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“…These have been used as a tool for robot hand analysis, control, and design choice (39)(40)(41)(42). Several studies have also demonstrated how underactuated hands can be leveraged to grasp and manipulate objects in unstructured environments and how this work may lead to adaptive hands that are relatively cheap, lightweight, and easy to control compared with fully actuated hands (43)(44)(45)(46)(47)(48). More recent work has optimized hand design to improve manipulation capabilities (49,50), providing open-source software for such design.…”

Section: Grasping: a Stepping Stonementioning

confidence: 99%

Trends and challenges in robot manipulation

Billard

Kragić

2019

Science

606

236

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Dexterous manipulation is one of the primary goals in robotics. Robots with this capability could sort and package objects, chop vegetables, and fold clothes. As robots come to work side by side with humans, they must also become human-aware. Over the past decade, research has made strides toward these goals. Progress has come from advances in visual and haptic perception and in mechanics in the form of soft actuators that offer a natural compliance. Most notably, immense progress in machine learning has been leveraged to encapsulate models of uncertainty and to support improvements in adaptive and robust control. Open questions remain in terms of how to enable robots to deal with the most unpredictable agent of all, the human.

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Section: Grasping: a Stepping Stonementioning

confidence: 99%

Trends and challenges in robot manipulation

Billard

Kragić

2019

Science

606

236

View full text Add to dashboard Cite

show abstract

“…The joint compliance and multi-fingered configurations in these under-actuated hands also gives them the beneficial property of being able to successfully grasp complex objects of relatively unknown shape and orientation (see [6]) as well as to be easily integrated into larger systems such as an arm to interact with the environment ( [7]). Low cost, simple design, and the potential for mass marketability all make under-actuating hands quite promising for current and future development in robotic prostheses and humanoid robotics (for example, see [8]). …”

Section: Introductionmentioning

confidence: 99%

A highly-underactuated robotic hand with force and joint angle sensors

Wang¹,

DelPreto²,

Bhattacharyya³

et al. 2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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This paper describes a novel underactuated robotic hand design. The hand is highly underactuated as it contains three fingers with three joints each controlled by a single motor. One of the fingers ("thumb") can also be rotated about the base of the hand, yielding a total of two controllable degrees-of-freedom. A key component of the design is the addition of position and tactile sensors which provide precise angle feedback and binary force feedback. Our mechanical design can be analyzed theoretically to predict contact forces as well as hand position given a particular object shape

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“…The detailed concept of the Design of an anthropomorphic robotic hand with the combined effect of the tendon as well as linkage driven has been studied [10]. Modelling and Finite Element Based Analysis of Grasping of a Cuboidal Shaped Object by a Five Fingered Underactuated Robotic Hand is presented [11]A robotic hand with five fingers that are optimized kinematically has been discussed [12].The process of adaptive alliances for operation with a high degree of merging has been presented in UNIPIhand [13]. Forward and reverse kinematic analysis of five-fingered robotic hands has been proposed, with research focusing first on grasping differently shaped objects and secondly on analyzing the movement of robotic fingers when grasping differently shaped objects [13].…”

Section: Introductionmentioning

confidence: 99%

Modelling and Finite Element Based Analysis of a Five Fingered Underactuated Robotic Hand

Biswal¹,

Parida²

2022

IJRASET

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Imparting the dexterity and autonomous competence to a robotic system is a significant burden in humanoid robotics, especially in the fields of industrial manufacturing, prosthetics, orthopedic rehabilitation, etc. Operating a humanoid hand requires a very innovative actuator and transmission system. The under-actuated concepts are proving to be a possible means of achieving extremely dexterous robotic hands without the need for diverse mechanical design. The main characteristics of an under-actuated robotic hand are that fewer actuators are required to operate it than the degrees of freedom. The under-actuated equivalent hand is significantly less expensive than the fully-actuated equivalent hand and remarkably reduces the complexity of the control system. The existing work dealt with the modeling and finite element-based analysis of an anthropomorphic underactuated robotic hand using five fingers including the thumb and palm with dexterity and with a total of twenty-one degrees of freedom.

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The use of underactuation in prosthetic grasping

Cited by 8 publications

References 23 publications

Trends and challenges in robot manipulation

Trends and challenges in robot manipulation

A highly-underactuated robotic hand with force and joint angle sensors

Modelling and Finite Element Based Analysis of a Five Fingered Underactuated Robotic Hand

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