UTHM HAND: Kinematics behind the Dexterous Anthropomorphic Robotic Hand

Zaid, Amran Mohd; Yaqub, M. Atif

doi:10.1007/978-3-642-35197-6_13

Cited by 4 publications

(3 citation statements)

References 14 publications

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“…The finger is compiled with 1 part and 1 transmission cable. This finger design has higher modularity and a lower cost than fabricated hands in (11)(12)(13).…”

Section: Discussionmentioning

confidence: 99%

The Design of a Modular Voluntary Opening Prosthetic Hand: Ongoing Research and Preliminary Results

El-Sheikh

Taher

2016

Int J Artif Organs

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“…The finger is compiled with 1 part and 1 transmission cable. This finger design has higher modularity and a lower cost than fabricated hands in (11)(12)(13).…”

Section: Discussionmentioning

confidence: 99%

The Design of a Modular Voluntary Opening Prosthetic Hand: Ongoing Research and Preliminary Results

El-Sheikh

Taher

2016

Int J Artif Organs

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“…The difficulty of determining the additional error component depends on the quality of the device dynamics model [13]. The use of the hand of anthropomorphic robots reduces the error component, but the drive error also contributes and needs to be taken into account [14]. The work [15] is devoted to the study of the influence of disturbances on the dynamics and the study of the structure of the controller for the formation of the stepper motor driver as part of the drive.…”

Section: Trends In the Development Of Devices For Determining The Coo...mentioning

confidence: 99%

Improving the System of Mobile Devices for Determining the Coordinates of Sound Anomalies

Byelozyorov

2024

ATBP

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The simulation of the operation of devices for determining the coordinates of sound anomalies, which is located on board mobile devices of monitoring systems, is considered. The calculation based on the data of the coordinates of sound anomalies, which were measured in the connected coordinate system of a separate device, coordinates in a single basic system, is substantiated. The model of the error calculation process was built and modeled taking into account the influence of the angular velocity of the carrier device for a separate device. It is proposed based on the results of modeling the hardware and software parts of the device. This study is devoted to the modeling of devices embedded in mobile monitoring systems designed to detect sound anomalies. These devices play a crucial role in identifying and tracking the coordinates of such anomalies. The research focuses on elucidating the computational methods used to transform the coordinates of sound anomalies, originally measured in a linked coordinate system of individual devices, into coordinates within a single reference system. An important aspect of this study is the construction of a model to estimate the error accumulation process. This model takes into account the influence of the angular velocity of the carrier on individual components. By simulating various scenarios, the study aims to accurately quantify and understand the sources of errors inherent in the system. In addition, the study offers recommendations for improving the hardware and software components of the device based on the information obtained during the simulation process. These recommendations include hardware additions and strategic reallocation of software components to mitigate errors and improve the overall efficiency and accuracy of audio anomaly detection systems.

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“…De igual forma, en [5] se desarrolló una mano robótica, la cual trabaja bajo la configuración maestro-esclavo, teleoperada mediante Bluetooth, con guantes maestro, que emplea sensores en cada articulación de los dedos.…”

Section: Introductionunclassified

Diseño de un prototipo electromecánico para la emulación de los movimientos de un brazo humano

et al. 2016

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Resumen− Esta investigación tiene como propósito el diseño y la construcción de la parte mecánica de un dispositivo que permite emular los movimientos del brazo humano, para encontrar una alternativa diferente en los procesos de rehabilitación, o para uso en industrias que requieren manejo de la robótica. Se presentan los pasos realizados en la primera fase de la investigación, que da como resultado el diseño y construcción del prototipo de un brazo robótico diestro: cinco dedos, mano, antebrazo, bíceps y hombro; con trece grados de libertad en total, junto con el diseño de una estructura para fijar los sensores al brazo del operador. El proceso se dividió en cinco partes: diseño y construcción de un dedo de prueba; estudio para la adquisición de motores incluidos en el funcionamiento del prototipo; diseño del hombro y antebrazo; diseño de mano y muñeca y, por último, el proceso de ensamblaje de las partes.Palabras clave− Emulación; robots; prototipos; dispositivos; máquinas electrónicas; motores; brazo humano; industria.Abstract− This investigation have to aims the design and build a device that can emulate the movements of the human arm, to find a different alternative in the rehabilitation process, or for use in industries that require handling robotics. Steps taken in the first phase of investigation, the design and construction of the prototype of a robotic arm dexterous are presented: five fingers, hand, forearm, biceps and shoulder; thirteen degrees of freedom in total, also with the design of a structure for attaching the sensors to the operator arm. The process is divided into five parts: design construction of a test finger; study for the buy to motors; design shoulder and forearm; design hand and wrist; and finally the process of assembling the parts.

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UTHM HAND: Kinematics behind the Dexterous Anthropomorphic Robotic Hand

Cited by 4 publications

References 14 publications

The Design of a Modular Voluntary Opening Prosthetic Hand: Ongoing Research and Preliminary Results

The Design of a Modular Voluntary Opening Prosthetic Hand: Ongoing Research and Preliminary Results

Improving the System of Mobile Devices for Determining the Coordinates of Sound Anomalies

Diseño de un prototipo electromecánico para la emulación de los movimientos de un brazo humano

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