Underactuated Robotic Hands
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Underactuated Robotic Hands
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Author : Lionel Birglen
language : en
Publisher: Springer Science & Business Media
Release Date : 2008-02-11
Underactuated Robotic Hands written by Lionel Birglen and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2008-02-11 with Technology & Engineering categories.
This is a cornerstone publication in robotic grasping. The authors have developed an internationally recognized expertise in this area. Additionally, they designed and built several prototypes which attracted the attention of the scientific community. The purpose of this book is to summarize years of research and to present, in an attractive format, the expertise developed by the authors on a new technology for grasping which has achieved great success both in theory and in practice.
Design And Analysis Of Selectively Compliant Underactuated Robotic Hands
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Author : Daniel McConnell Aukes
language : en
Publisher:
Release Date : 2013
Design And Analysis Of Selectively Compliant Underactuated Robotic Hands written by Daniel McConnell Aukes and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2013 with categories.
A balance between complexity and functional capabilities has been explored since the first years of multi-fingered robotic hands. In an age where DC motors are the de facto standard for actuation in robotics, the problem of needing to operate in a human-sized world puts severe constraints and limits on actuator size and placement in hands. While many successful examples of fully-actuated designs exist, these designs generally reflect the trade-offs and sacrifices imposed by such constraints. In that light, underactuation, employing fewer actuators than degrees of freedom, has gained attention as a method to achieve many of the functional capabilities of fully-actuated hands with fewer constraints on actuators and transmissions. Underactuated hands also have distinct advantages over fully actuated hands, especially when used on mobile robots, due to their reduced weight and control complexity, and the potential for increased robustness. However there is typically a trade-off in terms of reduced controllability or manipulability when handling grasped objects. When designing underactuated hands, extra care must be taken during the design process to ensure that such hands will grasp a wide range of object sizes and shapes robustly, particularly when friction is low and uncertain. Despite these concerns, underactuated hands have become increasingly popular in robotic and prosthetic applications. Robotic hands are also a venue in which novel, secondary mechanisms are often found. Devices such as differentials, valves, clutches, and low-power, shape-changing actuators have been used to improve grasp robustness on a wider range of objects and allow users more grasping and manipulation options. However, the location and placement of secondary actuators has not been studied in a comprehensive way with respect to the types of actuation methods possible. This is due in part to the lack of general analytic tools which enable designers to rapidly investigate their designs prior to the prototyping stage. Additionally, much of the analysis in the field of robotic hands is done once basic design choices have already been made, making subsequent analyses specific only to a set of design parameters specific to those choices. The same point can be made regarding quality metrics, which suffer from fragmented utilization due to the many different emphases placed on different design requirements. The primary goal of this thesis is to provide a framework for the analysis and evaluation of underactuated robotic hands. The first chapter discusses both the broad motivations for studying robotic hands and the specific contributions of this thesis. The next chapter reviews relevant designs from literature, analyses that have accompanied them, uses of secondary devices in underactuated hands, and the progress that dynamics simulators have made towards representing reality. In the next chapters, the issues related to modeling abstract, generic hand designs is discussed, and a kinematic framework is introduced to derive the force relationships between actuator and grasped object for many mechanisms commonly encountered in underactuated hands. Chapter 6 discusses difficulties associated with solving static force equations, and several methods are introduced to accomplish this. The last of these options relies on three-dimensional rigid-body dynamic simulations to evaluate the performance of compliant, underactuated mechanisms which may encounter conditions such as coulomb friction in contact and and damping at the joints. In the next chapters, these force relationships are derived and discussed for specific hand designs in the context of a force-field representation, and several performance metrics are derived which measure a hand's ability both to acquire and retain objects. The benefits of secondary actuation mechanisms are then discussed with two specific examples. First is the SRI/Stanford/Meka hand, a tendon-driven, compliant, underactuated hand capable of locking individual joints. Second is a mechanism implemented on the Seabed Hand, which increases the range of graspable objects and allows users to selectively change grasp properties based on their specific control needs. Finally, the impacts of friction are discussed, and the trends from simulations are compared with experimental data. From these experiments the benefits of secondary mechanisms can be demonstrated in a frictional world as well.
Analysis And Control Of Underactuated Robotic Hands
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Author : Lionel Birglen
language : en
Publisher:
Release Date : 2004
Analysis And Control Of Underactuated Robotic Hands written by Lionel Birglen and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2004 with categories.
Prototype Development Of An Underactuated Robotic Hand For Object Grasping Based On Anthropomorphic Tasks
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Author : Vanessa Corrales
language : en
Publisher:
Release Date : 2015
Prototype Development Of An Underactuated Robotic Hand For Object Grasping Based On Anthropomorphic Tasks written by Vanessa Corrales and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2015 with categories.
Advances In Mechatronics
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Author : Horacio Martinez-Alfaro
language : en
Publisher: IntechOpen
Release Date : 2011-08-29
Advances In Mechatronics written by Horacio Martinez-Alfaro and has been published by IntechOpen this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-08-29 with Technology & Engineering categories.
Numerous books have already been published specializing in one of the well known areas that comprise Mechatronics: mechanical engineering, electronic control and systems. The goal of this book is to collect state-of-the-art contributions that discuss recent developments which show a more coherent synergistic integration between the mentioned areas. The book is divided in three sections. The first section, divided into five chapters, deals with Automatic Control and Artificial Intelligence. The second section discusses Robotics and Vision with six chapters, and the third section considers Other Applications and Theory with two chapters.
Advanced Mechanics In Robotic Systems
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Author : Nestor Eduardo Nava Rodríguez
language : en
Publisher: Springer Science & Business Media
Release Date : 2011-07-22
Advanced Mechanics In Robotic Systems written by Nestor Eduardo Nava Rodríguez and has been published by Springer Science & Business Media this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011-07-22 with Technology & Engineering categories.
Humans have always been fascinated with the concept of artificial life and the construction of machines that look and behave like people. As the field of robotics evolves, it demands continuous development of successful systems with high-performance characteristics for practical applications. Advanced Mechanics in Robotic Systems illustrates original and ambitious mechanical designs and techniques for developing new robot prototypes with successful mechanical operational skills. Case studies are focused on projects in mechatronics that have high growth expectations: humanoid robots, robotics hands, mobile robots, parallel manipulators, and human-centred robots. A good control strategy requires good mechanical design, so a chapter has also been devoted to the description of suitable methods for control architecture design. Readers of Advanced Mechanics in Robotic Systems will discover novel designs for relevant applications in robotic fields, that will be of particular interest to academic and industry-based researchers.
Morphological Design Methodology Of Rugged Underactuated Gripper
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Author : John Patrick Mayo
language : en
Publisher:
Release Date : 2016
Morphological Design Methodology Of Rugged Underactuated Gripper written by John Patrick Mayo and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016 with categories.
The purpose of this research is to extend the design tools for robust underactuated hand design. Disaster response robots operate in highly unstructured environments where they need to dynamically move and interface to successfully fulfill their task. Historically robotic hands have been optimized for grasp strength, robustness, lightness, but not a combination of all of these factors. This thesis proposes key design requirements for disaster response robot hands and explains the design of the HERMES humanoid robotic system hand that balances these factors for versatility. Not only is it used for grasping, but a unique metal backbone allows it to be used as a foot also. Additionally, base modeling is presented for predicting the finger contact forces based on geometry of the grasp object and input tension to the hand. Trends in the number of fingers for practical disaster tasks are explored. The major purpose in the design of this hand is to be able to perform dynamic tasks such as swinging an ax which induces a moment reaction within the hand. For this loading condition, the maximum allowable reaction force scales quadratically with number of fingers, whereas tasks that only apply normal or shear forces to the hand scale linearly. The model shows that the HERMES hand can handle a 0.75 kg ax and door with 512 N of dynamic pull force. These models and design can be used for optimizing characteristics of future robotic hands, especially in the disaster response realm.
Control Strategy For Underactuated Multi Fingered Robot Hand Movement Using Electromyography Signal With Wearable Myo Armband
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Author : Ruthber Rodriguez
language : en
Publisher:
Release Date : 2022
Control Strategy For Underactuated Multi Fingered Robot Hand Movement Using Electromyography Signal With Wearable Myo Armband written by Ruthber Rodriguez and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2022 with Electronic books categories.
The main goal of this research is to develop a control strategy for an underactuated robotic hand, based on surface electromyography (sEMG) signal obtained from a wireless Myo gesture armband, to distinguish six, several hand movements. The pattern recognition system is employed to analyze these gestures and consists of three main parts: segmentation, feature extraction, and classification. A series of 150 trials is carried out for each movement and it is established which was most suitable for electromyography signals that can be later used in recognition systems. A backpropagation neural network was used as a classifier. The architecture has a hidden network and six output layers. The number of neurons of the hidden network (20) was determined based on the performance in training progress. The proposed system is tested on datasets extracted from five healthy subjects. A great accuracy (94.94% correct assessment). between the experimentally values and those predicted by the artificial neural network (ANN) was achieved. In addition, kinematic analysis of the proposed underactuated hand has been carried out to verify the motion range of the joints. Simulations and experiments are carried out to verify the effectiveness of the proposed fingers mechanism and the hand prosthesis to generate grasp or postures.
Robotic Hand Evaluation Based On Task Specific Kinematic Requirements
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Author : Carlos Rafael Neninger
language : en
Publisher:
Release Date : 2011
Robotic Hand Evaluation Based On Task Specific Kinematic Requirements written by Carlos Rafael Neninger and has been published by this book supported file pdf, txt, epub, kindle and other format this book has been release on 2011 with categories.
With the rise autonomous and robotic systems in field applications, the need for dexterous, highly adaptable end effectors has become a major research topic. Control mechanisms of robotics hands with a high number independent actuators is recognized as a complex, high dimensional problem, with exponentially complex algorithms. However, recent studies have shown that human hand motion possesses very high joint correlation which translates into a set of predefined postures, or synergies. The hand produces a motion using a complementing contribution of multiple joints, called synergies. The similarities place variables onto a common dimensional space, effectively reducing the number of independent variables. In this thesis, we analyze the motion of the hand during a set of objects grasps using mul- tivariate Principal Component Analysis (mPCA) to extract both the principal variables and their correlation during grasping. We introduce the use of Functional PCA (fPCA) primarily on princi- pal components to study the dynamic requirements of the motion. The goal is to defined a set of synergies common and specific to all motions. We expand the analysis by classifying the objects grasps, or tasks, using their functional components, or harmonics over the entire motion. A set of groups are described based on these classification that confirms empirical findings. Lastly, we evaluate the motions generated from the analysis by applying them onto robotic hands. The results from the mPCA and fPCA procedures are used to map the principal components from each motion onto underactuated robotic designs. We produce a viable routine that indicates how the mapping is performed, and finally, we implement the motion generated onto a real hand. The resultant robotic motion was evaluated on how it mimics the human motion.
Human And Robot Hands
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Author : Matteo Bianchi
language : en
Publisher: Springer
Release Date : 2016-02-24
Human And Robot Hands written by Matteo Bianchi and has been published by Springer this book supported file pdf, txt, epub, kindle and other format this book has been release on 2016-02-24 with Computers categories.
This book looks at the common problems both human and robotic hands encounter when controlling the large number of joints, actuators and sensors required to efficiently perform motor tasks such as object exploration, manipulation and grasping. The authors adopt an integrated approach to explore the control of the hand based on sensorimotor synergies that can be applied in both neuroscience and robotics. Hand synergies are based on goal-directed, combined muscle and kinematic activation leading to a reduction of the dimensionality of the motor and sensory space, presenting a highly effective solution for the fast and simplified design of artificial systems. Presented in two parts, the first part, Neuroscience, provides the theoretical and experimental foundations to describe the synergistic organization of the human hand. The second part, Robotics, Models and Sensing Tools, exploits the framework of hand synergies to better control and design robotic hands and haptic/sensing systems/tools, using a reduced number of control inputs/sensors, with the goal of pushing their effectiveness close to the natural one. Human and Robot Hands provides a valuable reference for students, researchers and designers who are interested in the study and design of the artificial hand.