UTHM HAND: Performance of Complete System of Dexterous Anthropomorphic Robotic Hand

Zaid, Amran Mohd; Yaqub, M. Atif

doi:10.1016/j.proeng.2012.07.243

Cited by 7 publications

(5 citation statements)

References 21 publications

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“…HRI hand memiliki cara kerja antara lain adalah sebagai berikut: User mengirimkan perintah untuk HRI hand melakukan gerakan tertentu, komputer kemudian memproses perintah tersebut dan memberikan output berupa perintah yang dikenali oleh HRI hand, HRI hand melakukan gerakan sesuai perintah yang telah diberikan oleh user dan yang diproses oleh komputer. C. UTHM Hand [11] UTHM merupakan teknologi tangan mekatronik Anthormophic dengan konfigurasi master dan slave, dimana sarung tangan yang dipasangi dengan BendSensors merupakan master dan tangan robotik merupakan slave.…”

Section: A Hri Hand [9]unclassified

Studi Pendahuluan Perancangan Desain Tangan Mekatronika Untuk Bedah Umum Jarak Jauh

Omar¹,

Kho²,

Hutagalung³

2020

ULTIMA Computing

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During the current situation, the availability of surgeons in remote areas is limited. There is a need to be still able to perform general operations without the doctor being physically present in the operating room. This research is a preliminary study of designing a remotely controlled mechatronic hand to perform general surgery. With this design, it is hoped that in the future, the physical presence of doctors will no longer be an obstacle in achieving general surgery in locations that are difficult to reach.

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Section: A Hri Hand [9]unclassified

Studi Pendahuluan Perancangan Desain Tangan Mekatronika Untuk Bedah Umum Jarak Jauh

Omar¹,

Kho²,

Hutagalung³

2020

ULTIMA Computing

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“…Complete sensory gloves with twenty RFSs were used for clinical hand assessment [78], and were utilized in a robotic hand system working under a master-slave configuration [109]. Twenty RFSs were part of a complex sensory glove including 16 tri-axial accelerometers and 11 force sensors too, for arthritis rehabilitation applications [59].…”

Section: Upper Limbmentioning

confidence: 99%

“…In [182], flex/ extension data from a sensory glove, together with 3D-positional data from the Microsoft Kinect™, enhanced fine-point control of the end effector of a simple robotic claw, in a more complex project aimed to help persons with disabilities. In [109] a human operator, by means of a sensory glove, teleoperated a robotic hand system working under a master-slave configuration. The anthropomorphic robotic hand had fingers capable of performing motions including flex/extension, abdu/adduction and circumduction.…”

Section: Proximal/remote Controlmentioning

confidence: 99%

“…conversion that, considering a maximum flexion range of 120°, can convert to a 12-bit digital value to detect small variations in movements[109]. As examples of microcontrollers, in[110] an MF624 data acquisition card was adopted (by Humusoft, Prague, Czech Republic) which accessed at a sampling rate of 1 kHz; in[111] a rfPIC12-C509AG microcontroller sampling at 9600 Hz was used; in[112] a 16C711 PC; in[113] a 18F4550 PIC; in[98] a 16F690 PIC (by MicroChip, Arizona, USA) controlling a front-end multiplexer to acquire signals cycling among 19…”

mentioning

confidence: 99%

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Resistive flex sensors: a survey

Saggio

Riillo

Sbernini

et al. 2015

Smart Mater. Struct.

140

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Resistive flex sensors can be used to measure bending or flexing with relatively little effort and a relativelylow budget. Their lightness, compactness, robustness, measurement effectiveness and low power consumption make these sensors useful for manifold applications in diverse fields.Here, we provide a comprehensive survey of resistive flex sensors, taking into account their working principles, manufacturing aspects, electrical characteristics and equivalent models, useful front-end conditioning circuitry, and physic-bio-chemical aspects. Particular effort is devoted to reporting on and analyzing several applications of resistive flex sensors, related to the measurement of body position and motion, and to the implementation of artificial devices. In relation to the human body, we consider the utilization of resistive flex sensors for the measurement of physical activity and for the development of interaction/interface devices driven by human gestures. Concerning artificial devices, we deal with applications related to the automotive field, robots, orthosis and prosthesis, musical instruments and measuring tools. The presented literature is collected from different sources, including bibliographic databases, company press releases, patents, master's theses and PhD theses.

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“…Anahtar Kelimeler: İnsansı el, Mekatronik, Robotik el, Robotik, Başparmak mekanizması hand developed by Gifu University (Schulz et al 2001), the Shadow hand developed by Shadow Robot Company Ltd. (Shadow hand webpage) and University Tun Hussein Onn Malaysia developed the UTHM hand (Zaid and Yaqub 2012). A comparison of experimental humanoid hands is listed in Table 1.…”

Section: öZmentioning

confidence: 99%

Untitled

Soylak

2016

KSEJ

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This paper aims to present a novel robotic hand system which is called Erciyes-1. The Erciyes-1 robotic hand is a multi fingered dexterous hand. The aim of the design of the Erciyes-1 is to increase capabilities of the robotic hands. The hand comprises of five fingers (four fingers and one thumb), each fingers having three degrees of freedom (DOF) and thumb has 4 degrees of freedom (DOF), which can perform grasping, manipulating and exploring. For the actuation purpose, dc servomotors are used and these motors integrated in the finger's joints directly. A novel thumb mechanism was developed on Erciyes-1 for reach maximum moving capability in the variety of positions. Additionally, a new force measurement system applied on the end points of the fingers. The paper exemplifies the design for the robotic hand and presents the forces produced at each finger's endpoints of the robotic hand. Also, the standard PID has been applied for control of the joints. A new thumb mechanism and force measurement system have been given perfect results for the movement capabilities and force measurements of the fingers. The new thumb mechanism provides better moving capality for the hand mechanism than the robotic hands built before.

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UTHM HAND: Performance of Complete System of Dexterous Anthropomorphic Robotic Hand

Cited by 7 publications

References 21 publications

Studi Pendahuluan Perancangan Desain Tangan Mekatronika Untuk Bedah Umum Jarak Jauh

Studi Pendahuluan Perancangan Desain Tangan Mekatronika Untuk Bedah Umum Jarak Jauh

Resistive flex sensors: a survey

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