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 three DOFs four joints. All actuators electronics are integrated in body palm. By using powerful super flat brushless DC motors, tiny harmonic drivers BGA form DSPs FPGAs, whole fingerpsilas size is about one third smaller than former I. steel coupling mechanism, phalanx distalpsilas transmission ratio exact...

In this paper, we report a novel flexible tactile sensor array for an anthropomorphic artificial hand with the capability of measuring both normal and shear force distributions using quantum tunneling composite as base material. There are four fan-shaped electrodes in cell that decompose contact into components. The has been realized 2 × 6 unit sensors, each responds to stresses all three axes. By applying separated drops conductive polymer instead full layer, cross-talk between cells is...

Purpose – The purpose of this paper is to present a five-fingered, multisensory prosthetic hand integrating both intuitive myoelectric control and sensory feedback. Design/methodology/approach artificial hand’s palm has three-arcuate configuration the thumb can move along cone surface, improving resemblance with biological hand. By using coupling linkage mechanism, each finger independently actuated by direct current motor. Both torque position sensors are embedded in sense status its...

This paper presents experimental results on the five-finger dexterous robot hand DLR-HIT II, with Cartesian impedance control based joint torque and nonlinearity compensation for elastic joints. To improve performance of controller, system parameter estimations extended kalman filter gravity have been investigated hand. Experimental show that, harmonic drive toruqe feedback, accurate position tracking stable torque/force response can be achieved cartesian controller. In addition, a...

SUMMARY This paper presents adaptive impedance controllers with sliding mode friction compensation for anthropomorphic artificial hand. A five-fingered hand multi-sensory and Field-Programmable Gate Arra (FPGA)-based control hardware software architecture is designed to fulfill the requirements of grasping force controller. In order improve force-tracking precision, indirect algorithm was applied estimate parameters environment. The generalized momentum-based disturbance observer contact...

This paper presents a multi-DOF and multisensory prosthetic hand (HIT V hand) with five modular fingers. The has total of 11 joints, which are actuated by 6 intrinsic DC motors. Each digit (2 DIP MCP, coupled) is driven separately motor within the proximal phalange, while trapeziometacarpal (TM) joint thumb specially devised an additional actuation in palm to accomplish adduction/abduction. A type worm-and-wheel applied metacarpophalangeal (MCP) joints fingers TM joint, can provide...

In the process of grasping objects by robot, uncertainty object pose has greater impact on stability grasping. this article, an adaptive strategy is proposed to solve problem in process. The based finger state function switch control method, so as realize contact with fingers, and application grasp force ensure pre-grasp object; then, error estimated through between object, compensated according different ranges reduce influence stability. Finally, experiments humanoid robot are carried out...

Restoring human hand function by mechatronic means is very challenging in robotics research. In this paper, we first make a brief review on the development of dexterous robotic/prosthetic hands, and then detail our design philosophy several robot hands. We concentration type intrinsically-actuated wherein driving, transmission, control elements are totally embedded hand. According to different application scenarios, develop hands two parallel lines, robotic anthropomorphic prosthetic both,...

This paper presents impedance controllers with adaptive friction compensation for the five-finger dexterous robot hand DLR-HIT II in both joint and Cartesian space. An FPGA-based control hardware software architecture real-time communication is designed to fulfill requirements of controller. Modeling finger flexible joints mechanical couplings differential gear-box are described this paper. In order address due complex transmission system coupling, an model-based estimation method carried...

The preeminent manipulation capabilities of the human hand are undoubtedly related to thumb. In view this, this paper presents an anthropomorphic design guideline for thumb dexterous hand. Anatomy analysis represents excellent base from which a robotic can be inferred. With simplification thumb's joint motion model, five configurations given A new method determining position on palm is proposed, according Euler Theorem about Finite Rotation Rigid Body. numeric computing opposability...

The compliance and manipulability are the crucial properties for prosthetic hands design, especially considering both usefulness versatility. This study presents a novel mechatronic design of an underactuated hand named HIT-VI hand. It consists four modular fingers, one opposite thumb, set multisensory embedded control system. Each finger uses dc motor to drive its two active joints passive joint. Due use nine-bar mechanism, it can execute anthropomorphic coupled motion self-adaptive motion....

This paper presents a new developed multisensory five-fingered dexterous robot hand : the DLR/HIT Hand II. The has an independent palm and five identical modular fingers, each finger three DOFs four joints. All actuators electronics are integrated in body palm. By using powerful super flat brushless DC motors, tiny harmonic drives BGA form DSPs FPGAs, whole fingerpsilas size is about one third smaller than former I. steel coupling mechanism, phalanx distalpsilas transmission ratio exact 1:1...

Purpose This paper aims to present the design and experiment of a modular multisensory prosthetic hand for applications. Design Design/methodology/approach reveals more details focusing on appearance, mechanism design, electrical control considering anthropomorphism, dexterity, sensing controllability. The finger is internally integrated with actuator, transmission mechanism, sensors controller as unit. Integrated multiple sensors, can not only perceive position, contact force temperature...

The force and/or motion transmissibility and the analyticity of inverse kinematics for a thumb mechanism depend on configuration. This paper presents general framework configuration performance evaluation in design dexterous robotic hand. is described by functional analysis human thumb, hand generalized into 15 configurations. A method proposed based kinetostatic dynamic dexterity as well workspace. Jacobian matrix condition number (JMCN). measure presented via acceleration analysis, which...

This paper presents an experimental study on impedance control in both Cartesian and object level with adaptive friction compensation for dexterous robot hand based joint torque feedback.To adaptively decrease the effects of high caused by complex transmission systems coupling, a observer is proposed extended Kalman filter (EKF) this paper.A controller implemented multi-fingered identical fingers, modelling each modular finger.In addition, flexible n-fingered frame paper, applicable to any...

For achieving a closed-loop, bidirectional control over myoelectric prosthetic hands, adopting the electrical stimulation in sensory feedback channel for providing electrotactile substitution is currently big trend. However, pulses used may spread to EMG collection sites which significantly interferes controlling stability. In this paper, novel noise cancellation method proposed suppress interference between subsystem and electromyographic subsystem. Based on propagation model of noise,...

A five-fingered, multi-sensory and biomimetic prosthetic hand is presented in this paper. The HIT-Hand a multisensory integrated five fingered with total 11 DOFs. has fingers each of them can be driven individually by the embedded actuation control system fitted palm. Each finger 2 DOFs two joints, joints are mechanically coupled cable driving. thumb an additional DOF to realize motion relative All actuators finger's base or body directly, electronics communication controllers fully...

Abstract Elastic elements are commonly adopted to realize underactuation in the design of human-friendly prosthetic hands. The stiffness these elastic elements, which is a key factor affecting grasp performance underactuated finger, has not well addressed when considering both stability and adaptability. In this study, an adaptive anthropomorphic finger that novel nine-bar mechanism proposed. This integrated through coupled four-bar seven-bar mechanism. developed based on able improve global...

This paper presents a highly integrated underactuated anthropomorphic finger with three joints and two DOFs using novel coupled-adaptive linkage mechanism. The has main motion modes: coupled in free space self-adaptive when contacting the object. Compared conventional prosthetic finger, combination of these modes improves characteristics grasping capacity remarkably. Besides, kinds sensors embedded, force, position tactile sensor not only intensify proactive perceptive ability, but also...

In this paper a novel approach is proposed for tactile shape recognition, which uses point location and normal information. Superquadric functions are applied to construct several primitives k-means unsupervised clustering method used partition the objects as patches. By extracting geometrical features from each patch rearranging features, object feature vectors constructed Gaussian process (GP) classifier identify shapes. Simulations results prove that our can achieve high recognition rate...

A printed omnidirectional dipole array antenna with a radiated load is proposed and analyzed, which fed by coplanar waveguide. Flying lines via-holes are used to connect dipoles achieve balanced feed. Simulated results CST microwave studio <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">®</sup> indicate that the operating band 4.6 4.9 GHz its reflection coefficient less than -10 dB. The gain in this higher 4.23 dB size only 103.4mm × 12.6mm...

This paper presents an anthropomorphic prosthetic hand, which has a thumb and four fingers, all the fingers of are driven by servomotors built into palm. A novel flexible three-axis tactile sensor array have been investigated for their suitability to measure grip forces exerted upon object held hand. The placed at hand with capability measuring both normal shear force distribution using quantum tunneling composite (QTC) as base material. joystick-like mesa was attached transfer external...

In this paper, the exploration and recognition in unknown object perception by robot hand is discussed. Inspired touch of human hand, a haptic strategy for multi-fingered proposed. Based on observations from experiments, proposed can be used to guide plan series movements get tactile information different objects, with precondition avoiding unexpected collisions objects. A approach then presented recognize shapes based point data collected strategy. Geometric feature vectors are extracted...

Haptic exploration and grasp planning by dexterous robot hand are usually two independent research areas. In this paper, the determination of optimal configurations after haptic unknown objects is discussed. The information used to select initial points corresponding configurations, which greatly improve efficiency process. feasible searching regions on object obtained under constrains manipulability kinematics. Then, optimization method based KNN search applied find positions in regions....