The design and development of the DIST-Hand dextrous gripper
ABSTRACT Presents the first prototype of the DIST-Hand dextrous gripper.
DIST-Hand is a 4-fingered tendon driven device with 16 degrees of
freedom, designed for experiments in the area of grasping control, and
tele-manipulation. The current version of the gripper is lightweight and
can be easily installed on the various existing robots. The paper
outlines the kinematic and structural characteristics of the hand.
Furthermore, some general methodological issues addressed during the
design phase are discussed
Conference Proceeding: Experimental analysis of an innovative prosthetic hand with proprioceptive sensors[show abstract] [hide abstract]
ABSTRACT: This paper presents an underactuated artificial hand intended for functional replacement of the natural hand in upper limb amputees. The natural hand has three basic functionalities: grasping, manipulation and exploration. To accomplish the goal of restoring these capabilities by implanting an artificial hand, two fundamental steps are necessary: to develop an artificial hand equipped with artificial proprioceptive and exteroceptive sensors and to fabricate an appropriate interface able to exchange sensory-motor signals with the amputee's body and the central nervous system. In order to address these objectives, we have studied an underactuated hand according to a biomimetic approach, and we have exploited robotic and microengineering technologies to design and fabricate its building blocks. The architecture of the hand comprises the following modules: an actuator system embedded in the underactuated mechanical structure (artificial musculoskeletal system), a proprioceptive sensory system (position and force sensors), an exteroceptive sensory system (3D force sensors distributed on the cosmetic glove), an embedded control unit, and a human/machine interface. The first prototype of the artificial hand has been designed and fabricated. The hand is underactuated, and is equipped with opposable thumb and a proprioceptive sensory system. This paper presents the fabrication and experimental characterization of the hand, focusing on the mechanical structure, the actuator system and the proprioceptive sensory system.Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International Conference on; 10/2003
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ABSTRACT: In this paper is presented a collection of humanoid anthropomorphic robotic hands, which represent the state of the art at the best of our knowledge, at the date of this paper. It is revised the most important characteristics of the robotic hands and a comparative table is developed. The objective of this paper is try to give a general idea of the most well known robot hands by compiling and comparing principally what it thinks are the most relevant designs.12/2004: pages 701-712;
Conference Proceeding: Tendon sheath analysis for estimation of distal end force and elongation[show abstract] [hide abstract]
ABSTRACT: Tendon sheath actuation can be found in many applications, particularly in robotic hand and surgical robots. Due to friction between the tendon and sheath, many undesirable characteristic such as backlash, hysteresis and non-linearity are present. It is desirable to know the end effector force and elongation of the tendon to control the system effectively, but it is not always feasible to fix sensors at the end effector. A method to estimate the end effector parameters using only a force and position sensor at the proximal site is given. An analytical study is presented and experiments are reported to support the result, showing a max full scale error of approximately 7%. This result is achieved if the shape of the sheath remains the same and buckling is negligible. The results presented in this study could contribute towards haptic development in robotics surgery.Advanced Intelligent Mechatronics, 2009. AIM 2009. IEEE/ASME International Conference on; 08/2009