[show abstract][hide abstract] ABSTRACT: This paper presents a lightweight (328 g) anthropomorphic robot hand that can exert a large grasping force. We propose a mechanism combining flexion drives and a force-magnification drive for a cable-driven multifingered robot hand. The flexion drive consisting of a feed screw enables quick finger motion, and the force-magnification drive, consisting of an eccentric cam, a bearing, and a pulley, enables a firm grasp. This paper also proposes a 3-D linkage for the thumb. This linkage consists of four links and is driven by a feed screw. It can oppose to a large force exerted by the force-magnification drive. These mechanisms are compact enough to be installed in the developed lightweight hand. We experimentally verify that the maximum fingertip force of the hand exceeds 20 N and that the thumb can hold a large force of 100 N. The time to fully close the hand using the flexion drives is 0.47 s. After the fingers make contact with an object, the time to achieve a firm grasp using the grasp-magnification drive is approximately 1 s.
IEEE/ASME Transactions on Mechatronics 07/2011; · 3.14 Impact Factor
[show abstract][hide abstract] ABSTRACT: Upper limbs of human beings are extremely special and significant, which obtain crucial function to achieve manipulations intelligently and dexterously. Gesture-Changeable Under-Actuated (GCUA) grasping function is presented to improve the capability of robotic hands to achieve humanoid manipulations with low dependence on control and sensor feedback systems, which includes traditional under-actuated (UA) grasping motion and special pre-bending (PB) motion. Based on GCUA function, GCUA Hand II is developed, which has 5 fingers and 14 DOF. All the fingers use similar tendon mechanisms and motors to achieve GCUA function. With GCUA Hand II, a humanoid robot upper limb system is designed, which has two 3-DOF arms actuated by stepper motors and two 14-DOF hands actuated by DC motors. The control system includes four parts: a computer, a FPGA motion controller, a driver module, and a user module, which can control the upper limb system to do various movements dexterously and exactly. With C++ language, a spatial motion program is designed to assist researchers to determine spatial motions of the upper limb system. This system has a great prospect in the field of rehabilitation engineering, extremely environmental manipulation, humanoid robotics and social services.
International Journal of Social Robotics 01/2011; 3:395-404.
[show abstract][hide abstract] ABSTRACT: AbstractA centenary tribute is paid to a soldier and sportsman, surveyor and inventor, artist and humorist. Vivian Thompson served in two wars, the second of which resulted in his untimely death. His Stereo-plotter, first described to the Royal Geographical Society in 1908, remains as a memorial and as a reminder of a great opportunity which was lost.RésuméHommage est rendu à un soldat, à un sportsman, géomètre, inventeur et à un artiste plein d'humour. Vivian Thompson participa à deux guerres, dont la dernière n'est pas sans relation avec sa mort. Son restituteur, décrit à la Royal Geographical Society en 1908, reste comme un témoin d'une grande occasion perdue.ZusammenfassungEs erfolgt eine einhundertjährige Würdigung für einen Soldaten und Sportler, Geodäten und Erfinder, Künstler und Humoristen. Vivian Thompson diente in 2 Kriegen, wobei er bedauerlicherweise im letzten einen vor-zeitigen Tod fand. Sein im Jahre 1908 zum ersten Male in der Royal Geographical Society beschriebenes Stereokartiergerät bleibt als ein Denkmal erhalten und erinnert an eine grosse Möglichkeit, die verschenkt wurde.
The Photogrammetric Record 08/2006; 10(55):5 - 38. · 1.44 Impact Factor
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