Abstract
A robotic hand with 19 joints is designed to make the mechanical hand lighter and more anthropomorphic. Inspired by the human flexor tendon and sheath, tendon-sheath transmission is applied to drive the finger joint, which decouples the motion of the joints and achieves the postposition of the drive motor. The configuration of the robotic hand is determined by referring to the joints of a human hand; furthermore, a joint mechanism and a drive structure are designed. The flex sensor and the changeable proportion mapping algorithm are applied, and the tracking control of grasping is achieved. Finally, a mechanical hand prototype is built to conduct gesture experiments and grasping control experiments. According to the experimental results, the designed hand has high motion flexibility, and the cooperation of the fingers achieves the effective grasping of various objects. The application of tendon-sheath transmission to the mechanical hand is feasible, and the research context has certain theoretical value and practical significance for the technical development and social application of anthropomorphic multijoint robotic hands.
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Acknowledgements
This work was supported in part by the R&D projects in key areas of Guangdong Province through Grant 2020B090925002, in part by the Guangdong Basic and Applied Basic Research Foundation under Grant 2021A1515011699, in part by Postdoctoral Science Foundation of China under Grant 2021M703389, in part by the Guangdong Regional Joint Fund- Youth Fund Project of China under Grant 2021A1515110486, in part by the Shenzhen Excellent Science and Innovation Talents Training Doctoral Startup Project under Grant 202107063000284, in part by National Natural Science Foundation of China under Grant 62022087, in part by the Defense Industrial Technology Development Program of China under Grant JCKY2020206B008, in part by the High-level Innovation and Entrepreneurship Talent Introduction Plan of Jiangsu Province under Grant JSSCBS20211456.
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Li, Z., Yin, M., Sun, H., Hu, M., Cao, W., Wu, X. (2022). Master-Slave Control of the Robotic Hand Driven by Tendon-Sheath Transmission. In: Liu, H., et al. Intelligent Robotics and Applications. ICIRA 2022. Lecture Notes in Computer Science(), vol 13455. Springer, Cham. https://doi.org/10.1007/978-3-031-13844-7_69
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DOI: https://doi.org/10.1007/978-3-031-13844-7_69
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