Skip to main content
SpringerLink
Log in
Book cover

Intelligent Autonomous Systems 13 pp 1079–1093Cite as

Artificial Hand with Stiffness Adjuster

  • Conference paper
  • First Online:

  • 4599 Accesses

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 302))

Abstract

The paper deals with a five-finger hand, which is based on the original finger mechanism consisting of a planetary gear system and the compound four bar linkages. It takes an all-in-one design: all of the actuators (total five DC motors) are embedded into a palm, while finger parts have no electronic devices for attaining to be inherently safe as an end-effector. The mechanism allows us adaptive synergic motions of three joints of a finger (MP, PIP, and DIP) according to the shape of the objects to be gripped. The hand has a novel mechanism for adjusting stiffness of fingers, which provides an ability to give passive gripping force to a gripping object according to its elasticity. Driving tests show that it achieves fundamental motions of a human hand in daily life without any sensory feedback and also shows that the stiffness adjuster works effectively.

This is a preview of subscription content, log in via an institution.

Chapter
USD   29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD   349.00
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD   449.99
Price excludes VAT (USA)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Learn about institutional subscriptions

References

  1. Kawasaki, H., et al. Mechanism of Anthropomorphic Robot Hand: Gifu Hand I, J. Robot. And Mech., Vol. 11, No. 4, pp. 269–273, 1999.

    Google Scholar 

  2. Kawasaki, H., T. Komatsu and K. Uchiyama, Dexterous Anthropomorphic Robot Hand with Distributed Tactile Sensor: Gifu Hand II, IEEE/ASME Trans. On Mechatronics, Vol. 7, No. 3, pp. 296–303, 2002.

    Google Scholar 

  3. Namiki, A., Y. Imai, M. Kaneko and M. Ishikawa, Development of a High-speed Multifingered Hand System, Proc. of Int. Conf. on Intelligent Manipulation and Grasping, Genova-Itary, pp.85-90, 2004.

    Google Scholar 

  4. Kaneko, K., K. Harada and F. Kanehiro, Development of Multi-Fingered Hand for Life-size Humanoid Robots, Proc. of IEEE Int. Conf. on Robotics and Autom., pp. 913–920, 2007.

    Google Scholar 

  5. Bae, J. H., S.W. Park, J.H. Park, M.H.Baeg, D.Kim and S.R. Oh, Development of Low Cost Anthro-pomorphic Robot Hand with High Capability, Proc. of IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 4776–4782, 2012.

    Google Scholar 

  6. Salisbury, K. and B. Roth, Kinematics and force analysis of articulate mechanical hands, ASME J. Mechanism, Transmissions and Autom. In Design, Vol. 105, pp. 35–41, 1983.

    Google Scholar 

  7. Maekawa, H., et al., Development of Three-Fingered Robot Hand with Stiffness Control Capability, Mechanism, Vol. 2, No. 5, pp. 483–494, 1992.

    Google Scholar 

  8. Lovchik, C.S. and M.A. Diftler, The Robonaut Hand: A Dextrous Robot Hand for Space, Proc. of the 1999 IEEE Int. Conf. on Robotics and Autom, pp. 907–912, 1999.

    Google Scholar 

  9. Grebenstein, M., M. Chalon, G. Hirzinger and R. Siegwart, Antagonistically Driven Finger Design for the Anthropomorphic DLR Hand Arm System, Proc. of IEEE-RAS Int. Conf. on Humanoid Robots, pp. 609–616, 2010.

    Google Scholar 

  10. Lee, Y-T, H-R Choi, W-K Chung and Y. Youm, Stiffness Control of a Coupled Tendon-Driven Robot Hand, IEEE Control Systems, pp.10-19, 1994.

    Google Scholar 

  11. Massa, B., S. Roccella, M. C. Carrozza and P. Dario, Design and Development of an Underactuated Prosthetic Hand, Proc. Of the IEEE Int. Conf. on Robotics and Autom., pp. 3374–3379, 2002.

    Google Scholar 

  12. Harada Electric Industry Co., Myo-electric controlled forearm prosthesis SH-1, http://www.h-e-i.co.jp

  13. Carrozza, M. C., G. Cappiello, S. Micera \(\cdot \)B. B. Edin, L. Beccai, C. Cipriani: Design of a cybernetic hand for perception and action, Biol Cybern 95, pp. 629–644, 2006.

    Google Scholar 

  14. Kamikawa, Y., and T. Maeno: Underactuated Five-Finger Prosthetic Hand Inspired by Grasping Force Distribution of Humans, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 717–722, 2008.

    Google Scholar 

  15. Gosselin, C., F. Pelletier and T. Laliberte, An Anthropomorphic Underactuated Robotic Hand with 15 Dofs and a Single Actuator, Proc. of IEEE Int. Conf. on Robotics and Autom., pp. 609–616, 2008.

    Google Scholar 

  16. Kim, Y.J., J. W. Lee and K. M. Park, A Human-lime Robotic Hand with a Highly Efficient and Backdrivable Mechanism, Proc. of the 9th Int. Symp. On Robot Control (SYROCO’09), pp. 391–396, 2009.

    Google Scholar 

  17. Wiste, T. E., S. A. Dalley, T. J. Withrow and M. Goldfarb: Design of a Multifunctional Anthropomorphic Prosthetic Hand with Extrinsic Actuation, Proc. of IEEE 11th International Conf. on Rehabilitation Robotics, pp. 675–681, 2009.

    Google Scholar 

  18. Grioli, G., M. Catalano, E. Silvestro, S. Tono and A. Bicchi, Adaptive Synergies: an Approach to the Design of Under-Actuated Robotic Hands, Proc. IEEE/RSJ Int. Conf. on Intelligent Robotics and Systems, pp. 1252–1256, 2012.

    Google Scholar 

  19. Huang, H., L. Jiang, Y. Liu, L. Hou, H. Cai and H. Liu, The Mechanical Design and Experiments of HIT/DLR Prosthetic Hand, Proc. of the IEEE Int. Conf. on Robotics and Biomimetics, pp. 896–901, 2006.

    Google Scholar 

  20. Englehart, K and B. Hudgins: A Robust, Real-Time Control Scheme for Multifunction Myoelectric Control, IEEE Trans. On Biomedical Engineering, 50(7), pp. 848–854, 2003.

    Google Scholar 

  21. Jun-Uk Chu, J.U., I. Moon, S. K. Kim, and M. S. Mun: Control of Multifunction Myoelectric Hand using a Real-Time EMG Pattern Recognition, Proc IEEE/RSJ Int. Conf. Intell. Robots Syst, pp. 3511–3516, 2005.

    Google Scholar 

  22. Shenoy, P., K. J. Miller, B. Crawford, and R. P. N. Rao: Online Electromyographic Control of a Robotic Prosthesis, IEEE Trans. on Biomedical Engin., 55 (3), pp. 1128–1135, 2008.

    Google Scholar 

  23. Cipriani, C., C. Antfolk, M. Controzzi, G. Lundborg, B. Rosén, M. C. Carrozza, and F. Sebelius: Online Myoelectric Control of a Dexterous Hand Prosthesis by Transradial Amputees, IEEE Trans. On Neural Systems and Rehabilitation Engin., 19(3), pp. 260–270, 2011.

    Google Scholar 

  24. Matrone1, G. C., C. Cipriani, M. C. Carrozza and G. Magenes: Real-time myoelectric control of a multi-fingered hand prosthesis using principal components analysis, J. of Neuro-Engineering and Rehabilitation, 9(40), 2012.

    Google Scholar 

  25. Scheme, E., K. Englehart: Electromyogram Pattern Recognition for Control of Powered Upper-Limb Prostheses: State of the Art and Challenges for Clinical Use, Journal of Rehabilitation Research & Development, 48(6), p. 643–659, 2011.

    Google Scholar 

  26. Koganezawa, K., Artificial Finger with Shape-Fitting Mechanism, Proc. of the International Conference on Intelligent Manipulation and Grasping, pp. 103–109, Genova, Italy, 2004.

    Google Scholar 

  27. Koganezawa, K. and Y. Ishizuka, Novel Mechanism of Artificial Finger using Double Planetary Gear System, Proceedings of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3184–3191, Nice, France, Sept 22–26, 2008.

    Google Scholar 

  28. Koganezawa, K, Back-drivable and Inherently Safe Mechanism for Artificial Finger, Robotics Science and Systems IV, The MIT Press, pp.57-63, 2010

    Google Scholar 

  29. Koganezawa, K and A. Ito, Artificial Hand Based on the Planetary Gear System, Proc. of the International Conference on Mechatronics and Automation (ICMA), pp. 645–650, Takamatsu, Japan, 2013.

    Google Scholar 

  30. Martin, E. and T. L. C. Gosselin, SARAH Hand Used for Space Operations on STVF Robot, Proc. of the International Conference on Intelligent Manipulation and Grasping, pp. 279–284, Genova, Italy, 2004.

    Google Scholar 

  31. A. D. Keller, C. L. Taylor and V. Zahm, Studies to determine the functional requirements for hand & arm prostheses, Dept. of Engr., UCLA., CA, 1947.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Tokai University, 4-1-1 Kitakaname, 259-1292, Hiratsuka, Kanagawa, Japan

    K. Koganezawa & A. Ito

Authors
  1. K. Koganezawa
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. A. Ito
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to K. Koganezawa .

Editor information

Editors and Affiliations

  1. Information Engineering, University of Padua, Padua, Italy

    Emanuele Menegatti

  2. Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania, USA

    Nathan Michael

  3. Fachbereich Informatik, Technische Universität Kaiserslautern Arbeitsgruppe Robotersysteme, Kaiserslautern, Germany

    Karsten Berns

  4. Integrated Information Technology, Aoyama Gakuin University, Tokyo, Japan

    Hiroaki Yamaguchi

Rights and permissions

Reprints and permissions

Copyright information

© 2016 Springer International Publishing Switzerland

About this paper

Cite this paper

Koganezawa, K., Ito, A. (2016). Artificial Hand with Stiffness Adjuster. In: Menegatti, E., Michael, N., Berns, K., Yamaguchi, H. (eds) Intelligent Autonomous Systems 13. Advances in Intelligent Systems and Computing, vol 302. Springer, Cham. https://doi.org/10.1007/978-3-319-08338-4_78

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-08338-4_78

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-08337-7

  • Online ISBN: 978-3-319-08338-4

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation