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Localization and manipulation of features such as buttons, snaps, or grommets embedded in fabrics and other flexible materials is a difficult robotics problem. Approaches that rely too much on sensing and localization that occurs before touching the material are likely to fail because the flexible material can move when the robot actually makes contact. This paper experimentally explores the possibility...
In this paper we investigate the key factors associated with the realization of a hand exoskeleton that could be embedded in an astronaut glove for EVA (Extra Vehicular Activities). Such a project poses several and varied problems, mainly due to the complex structure of the human hand and to the extreme environment in which the glove operates. This work provides an overview of existing exoskeletons...
This paper introduces a study aimed to help quantify the benefits of limited-performance force-feedback user input devices for space telemanipulation with a dexterous robotic arm. A teleoperated robotic hand has been developed for the European Space Agency by the German Aerospace Center (DLR) for a lunar rover prototype. Studies carried out on this telerobotic system investigated several criteria...
A five-fingered, multi-sensory biomechatronic hand with sEMG interface is presented. The cambered palm is specially designed to enhance the stability while grasping. The location of the thumb is designed by maximizing interaction area between the thumb and other fingers. The opposite thumb could grasp along a cone surface, while maintaining its function. By taken the advantage of coupling linkage...
A goal of our research is to produce a light-weight, low-cost five fingered robotic hand that has similar degrees of freedom as a human hand. The joints in the fingers of the developed robotic hand are powered by a newly proposed strings transmission named “Twist Drive”. The transmission converts torque into a pulling force by using a pair of strings that twist on each other. The basic characteristics...
This paper describes the design, construction, installation and maintenance of an interactive dextrous robot hand exhibit built for display at one of the United Kingdom's largest science and technology museums. The vast majority of dextrous robot hands are used in laboratory environments and so long term reliability is rarely a major design consideration. However, reliability is critically important...
Several practical issues associated with achieving effective impedance performance in the finger joint space and stable grasping on a five-fingered dexterous hand are investigated in this work. A Multiprocessor structure based on field programming gate array (FPGA) is proposed to realize the high-level hand impedance controller. The key feature of the hardware system is a dual-processor architecture...
A position-based joint impedance controller and a DSP&FPGA-based multilevel control structure were developed to improve the capabilities of robot hand performing task in a variety of environments. Based on finite element analysis technologies, the new torque sensors and giant magnetoresistance (GMR) position sensors were designed and applied, and meet the challenge of joint torque measuring and...
This paper proposes a method of directly measuring static constraints imposed by a human hand on a grasped object. Based on the analysis of the demonstration data of the human grasp, the static constraints are expressed as a combination of frictional force and normal force generated by the human hand. The static constraints are an important property to be mapped to robotic hands in the programming-by-demonstration...
The authors propose a hand posture estimation system in real time and with high accuracy, for robot hand control and human interface with hand motions without no sensors attached to the users. This method searches the similar image quickly from a large volume of previously-sorted image database which contains complicated shapes and self-occlusions of the human hand. Because the system doesn??t need...
The present paper describes a decision method for the placement of mechanical tactile elements for grasp type recognition. Based on the mutual information of the manipulation tasks and tactile information, an effective placement of tactile elements on a sensing glove is determined. Although the effective placement consists of a small number of tactile elements, it has a recognition performance that...
This paper presents a new developed multisensory five-fingered dexterous robot hand: the DLR/HIT Hand II. The hand has an independent palm and five identical modular fingers, each finger has three DOFs and four joints. All the actuators and electronics are integrated in the finger body and the palm. By using powerful super flat brushless DC motors, tiny harmonic drivers and BGA form DSPs and FPGAs,...
Skin is an essential component of artificial hands. It enables the use of object affordance for recognition and control, but due to its intrinsic locality and low density of current tactile sensors, stable and proper manual contacts with the objects are indispensable. Recently, design of hand structure have shown to be effective for adaptive grasping. However, such adaptive design are only introduced...
We propose a method for shape classification in rotation manipulation by a multi-fingered robotic hand. The robotic hand has five fingers equipped with tactile sensors. Each tactile sensor can measure the pressure distribution once every 10(ms). Our proposed classification method consists of the following processes: A kurtosis is calculated from the pressure distribution, and it quantifies shape of...
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