Skip to main content
SpringerLink
Log in

JLST Hand: A Novel Powerful Self-adaptive Underactuated Hand with Joint-Locking and Spring-Tendon Mechanisms

  • Conference paper
  • First Online:
Social Robotics (ICSR 2016)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 9979))

Included in the following conference series:

Abstract

This paper proposes a novel spring-tendon self-adaptive underactuated hand, called JLST hand, which can perform simultaneous multi-joint locking grasp. A JLST hand is designed with three JLST fingers and 6 degrees of freedom (DOFs). The JLST hand has more stable grasp ability and a larger grasping force than the normal spring-tendon robot hand, because the JLST hand has simultaneous multi-joint locking mechanisms. The JLST finger uses one motor to realize grasping objects, releasing objects and locking joints. The spring-tendon mechanism is based on the spring force to grasp objects and using the motor to pull the tendon to release the object. The JLST finger also uses one motor pulling the tendon to release the object and spring force to grasp objects, but the difference is JLST finger also uses the motor to lock multi-joints. Once the motor is turning forward, the finger releases the object; once the motor is turning backward, the motor releases the tendon so that the finger will grasp; the blocker is going to lock the joint since the motor keeps turning backward. The calculation and simulation results show that the JLST hand has the high stability of grasp and is more powerful than the normal spring-tendon hand.

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

Access this chapter

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 84.99
Price excludes VAT (USA)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
USD 109.99
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

Institutional subscriptions

References

  1. Loucks, C.S.: Modeling and Control of the Stanford/JPL Hand. In: 1987 International Conference on Robotics and Automation, pp. 573–578 (1987)

    Google Scholar 

  2. Jacobsen, S.C., Iversen, E.K., Knutti, D.F., et al.: Design of the Utah/MIT Dextrous Hand. In: IEEE International Conference on Robotics and Automation, pp. 1520–1532 (1986)

    Google Scholar 

  3. Butterfass, J., Grebenstein, M., Liu, H., et al.: DLR-Hand II: next generation of a dextrous robot hand. In: IEEE International Conference on Robotics and Automation (ICRA), vol.1, pp. 109–114 (2001)

    Google Scholar 

  4. Dollar, A., Howe, D.: Joint coupling design of underactuated grippers. In: ASME Mechanical and Robotics Conference, 2006 International Design Engineering Technical Conference (IDETC), Philadelphia, July 2005, pp. 10–13 (2006)

    Google Scholar 

  5. Dubey, V., Crowder, M.: Grasping and control issues in adaptive end effectors. In: ASME Design Engineering Technical Conference and Computers and Information in Engineering Conference New York, May 2004, pp. 1–9 (2004)

    Google Scholar 

  6. Zhang, W., Chen, Q., Sun, Z., et al.: Under-actuated passive adaptive grasp humanoid robot hand with control of grasping force. In: IEEE International Conference on Robotics and Automation (ICRA), pp. 696–701 (2003)

    Google Scholar 

  7. Che, D., Zhang, W.: GCUA humanoid robotic hand with tendon mechanisms and its upper limb. Int. J. Soc. Robot. 3(1), 395–404 (2011)

    Article  Google Scholar 

  8. Zhang, W., Tian, L., Liu, K.: Study on multi-finger under-actuated mechanism for TH-2 robotic hand. In: IASTED International Conference on Robotics and Applications, pp. 420–424 (2007)

    Google Scholar 

  9. Demers, L.A., Lefrancois, S., Jobin, J.: Gripper having a two degree of freedom underactuated mechanical finger for encompassing and pinch grasping. US Patent, US8973958 (2015)

    Google Scholar 

  10. Liang, D., Zhang, W., Sun, Z., et al.: PASA finger: a novel parallel and self-adaptive underactuated finger with pinching and enveloping grasp. In: IEEE International Conference on Robotics and Biomimetics. IEEE (2015)

    Google Scholar 

  11. Li, G., Liu, H., Zhang, W.: Development of multi-fingered robotic hand with coupled and directly self-adaptive grasp. Int J. Humanoid Robot. 9(4), 1–18 (2012)

    Article  Google Scholar 

  12. Stark, M.: Artificial hand. US Patent, US7655051 (2010)

    Google Scholar 

  13. Shin, Y., Rew, K., Kim, R., et al.: Development of anthropomorphic robot hand with dual-mode twisting actuation and electromagnetic joint locking mechanism. In: IEEE International Confernce on Robotics and Automation (ICRA), pp. 2759–2764 (2013)

    Google Scholar 

  14. Yang, Y., Zhang, W.: Bending self-locking pneumatic under-actuated robot finger device. CN Patent, CN103659825

    Google Scholar 

Download references

Acknowledgement

This Research was supported by National Natural Science Foundation of China (No. 51575302).

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Tsinghua University, Beijing, 100084, China

    Jiuya Song & Wenzeng Zhang

Authors
  1. Jiuya Song
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Wenzeng Zhang
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Wenzeng Zhang .

Editor information

Editors and Affiliations

  1. Department of Electrical Engineering, The University of Kansas, Lawrence, Indiana, USA

    Arvin Agah

  2. Department of Mechanical Engineering, Qatar University, Doha, Qatar

    John-John Cabibihan

  3. School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, USA

    Ayanna M. Howard

  4. Department of Systems Engineering and Automation, University Carlos III de Madrid, madrid, Spain

    Miguel A. Salichs

  5. Department of Mechanical, Aerospace and Biomedical Engineering, University of Tennessee, Knoxville, Tennessee, USA

    Hongsheng He

Rights and permissions

Reprints and permissions

Copyright information

© 2016 Springer International Publishing AG

About this paper

Cite this paper

Song, J., Zhang, W. (2016). JLST Hand: A Novel Powerful Self-adaptive Underactuated Hand with Joint-Locking and Spring-Tendon Mechanisms. In: Agah, A., Cabibihan, JJ., Howard, A., Salichs, M., He, H. (eds) Social Robotics. ICSR 2016. Lecture Notes in Computer Science(), vol 9979. Springer, Cham. https://doi.org/10.1007/978-3-319-47437-3_48

Download citation

  • DOI: https://doi.org/10.1007/978-3-319-47437-3_48

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-47436-6

  • Online ISBN: 978-3-319-47437-3

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics

Search

Navigation