Abstract
A novel concept called gesture-changeable under-actuated (GCUA) function is proposed to improve the dexterities of traditional under-actuated hands and reduce the control difficulties of dexterous hands. Based on the GCUA function, a new humanoid robot hand, GCUA Hand is designed and manufactured. The GCUA Hand can grasp different objects self-adaptively and change its initial gesture dexterously before contacting objects. The hand has 5 fingers and 15 DOFs, each finger is based on screw-nut transmission, flexible drawstring constraint and belt-pulley under-actuated mechanism to realize GCUA function. The analyses on grasping static forces and grasping stabilities are put forward. The analyses and Experimental results show that the GCUA function is very nice and valid. The hands with the GCUA function can meet the requirements of grasping and operating with lower control and cost, which is the middle road between traditional under-actuated hands and dexterous hands.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Jacobsen, S.C., Iversen, E.K., Knutti, D.F., et al.: Design of the UTAH/M.I.T. dextrous hand. In: Proc. IEEE Inter. Conf. on Robotics and Automation, April 1986, pp. 1520–1532. IEEE Computer Society Press, San Francisco (1986)
Lovchik, C.S., Diftler, M.A.: The robonaut hand: a dexterous robot hand for space. In: Proc. IEEE inter. Conf. on Robotics & Automation, May 1999, pp. 907–912. IEEE Computer Society Press, Detroit (1999)
Lotti, F., Tiezzi, P., Vassura, G.: Development of UB hand 3: early results. In: Proc. IEEE Inter. Conf. on Robotics & Automation, Barcelona, Spain, April 2005, pp. 4488–4493 (2005)
Liu, H., Meusel, P., Seitz, N., et al.: The modular multisensory DLR-HIT-Hand. Mechanism and Machine Theory 42, 612–625 (2007)
Birglen, L., Gosselin, C.M.: Kinetostatic analysis of underactuated fingers. IEEE Transactions on Robotics and Automation 20(2), 211–221 (2004)
Dollar, A.M., Howe, R.D.: Towards grasping in unstructured environments: grasper compliance and configuration optimization. Advanced Robotics 19(5), 523–543 (2005)
Liu, H., Gao, X., Shi, S.: Under-actuated self-adaptive artificial hand: Chinese Patent: CN 1292719C (November 2007)
Guo, W., Liu, B., Zhang, Y., et al.: Humanoid robot hand mechanism: Chinese Patent: CN 1283429C (November 2006)
Zhang, W., Che, D., Liu, H., et al.: Super under-actuated multi-fingered mechanical hand with modular self-adaptive gear-rack mechanism. Industrial Robot: An International Journal 36(3), 255–262 (2009)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2009 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Zhang, W., Che, D., Chen, Q., Du, D. (2009). A Dexterous and Self-adaptive Humanoid Robot Hand: Gesture-Changeable Under-Actuated Hand. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_51
Download citation
DOI: https://doi.org/10.1007/978-3-642-10817-4_51
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-10816-7
Online ISBN: 978-3-642-10817-4
eBook Packages: Computer ScienceComputer Science (R0)