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The Control of Tendon-Driven Dexterous Hands with Joint Simulation
2014
Sensors
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The joint simulation results demonstrate fast response and robustness of the algorithm when the environment is not exactly known, so the algorithm is suitable for the control of tendon-driven dexterous ...
An adaptive impedance control algorithm for tendon-driven dexterous hands is presented. ...
Acknowledgments This work was supported by the National Natural Science Foundation of China (Grant No. 51105196) and Natural Science Foundation of Jiangsu Province (Grant No. BK2011733). ...
doi:10.3390/s140101723
pmid:24448167
pmcid:PMC3926635
fatcat:4g34znkebnfsbpzvykjjn6cnae
STUDY ON A NEW DEXTEROUS HAND ACTUATED BY PNEUMATIC MUSCLE ACTUATORS
2008
Proceedings of the JFPS International symposium on fluid power
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And, the master-slave control of the whole dextrous hand is realized simulating the movement of human hand with a cyber-glove. ...
The layout of tendon is analyzed and optimized. Furthermore, a single finger is controlled by Fuzz-PID and the good control precision is achieved. ...
The master-slave control of the whole dextrous hand is realized simulating the movement of human hand with a cyber-glove. ...
doi:10.5739/isfp.2008.521
fatcat:uglwhnpai5dnfdi4vopxddptau
Real-time behaviour synthesis for dynamic hand-manipulation
2014
2014 IEEE International Conference on Robotics and Automation (ICRA)
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Here we demonstrate for the first time online planning (or model-predictive control) with a full physics model of a humanoid hand, with 28 degrees of freedom and 48 pneumatic actuators. ...
Dexterous hand manipulation is one of the most complex types of biological movement, and has proven very difficult to replicate in robots. ...
This combination of speed, force and compliance is a prerequisite for dexterous manipulation, yet it has never before been achieved with a tendon-driven system, let alone a system with 24 dof and 40 tendons ...
doi:10.1109/icra.2014.6907864
dblp:conf/icra/KumarTET14
fatcat:chiaeej27jgurmcs64ks4dwmtq
Fast, strong and compliant pneumatic actuation for dexterous tendon-driven hands
2013
2013 IEEE International Conference on Robotics and Automation
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This combination of speed, force and compliance is a prerequisite for dexterous manipulation, yet it has never before been achieved with a tendon-driven system, let alone a system with 24 degrees of freedom ...
tendon, 125N at each wrist tendon), and achieve high compliance on the mechanism level (6 grams of external force at the fingertip displaces the finger when the system is powered.) ...
ACKNOWLEDGEMENTS This work was supported by the US National Institutes of Health and the US National Science Foundation. ...
doi:10.1109/icra.2013.6630771
dblp:conf/icra/KumarXT13
fatcat:zaxtkm7ozravvo7xlr6fetoigy
Towards Very Low-Cost Iterative Prototyping for Fully Printable Dexterous Soft Robotic Hands
[article]
2022
arXiv
pre-print
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The design and fabrication of soft robot hands is still a time-consuming and difficult process. ...
3D printing to create dexterous soft robotic hands. ...
INTRODUCTION Traditionally, dexterous anthropomorphic robot hands require a large number of parts and actuators to realize complicated joint mechanics [1] , [2] , [3] . ...
arXiv:2111.01869v2
fatcat:o5aduyfqp5bwjp6p2qsbmzzuqy
EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation
2016
2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)
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Our key innovation is the use of a tendon-driven ball joint as a basis for an articulated thumb. ...
We then proceed to compare the dexterity of our novel robotic hand design to other designs in prosthetics, robotics and humans using simulated and physical kinematic data to demonstrate the enhanced dexterity ...
We note that evaluation of dexterity with physical kinematic data shows a 5% drop in workspace volume for the thumb when compared with the simulations. ...
doi:10.1109/biorob.2016.7523787
dblp:conf/biorob/KonnarisGTF16
fatcat:rsyzmqplh5djzcppkm6wif6qom
The utility of tactile force to autonomous learning of in-hand manipulation is task-dependent
[article]
2020
arXiv
pre-print
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This paper evaluates the role of tactile information on autonomous learning of manipulation with a simulated 3-finger tendon-driven hand. ...
Moreover, the utility of 3D force-sensing can even offset the added computational cost of learning with higher-dimensional sensory input. ...
We, therefore, used a tendon-driven hand to help us understand the role of sensory input for the control of in-hand manipulation and future tendon-driven hand prostheses. ...
arXiv:2002.02418v1
fatcat:md7dsdaecbfsrmyjqqsymmk6va
Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2
2018
IEEE Transactions on robotics
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Among them, the Pisa/IIT SoftHand demonstrated the feasibility of a large variety of grasping tasks, by means of only one actuator and an opportunely designed tendon-driven differential mechanism. ...
The hand demonstrates that by opportunely combining only two DoAs with hand softness, a large variety of grasping and manipulation tasks can be performed, only relying on the intelligence embodied in the ...
ACKNOWLEDGMENT The authors would like to thank A. Brando, A. Di Basco, M. Maimeri, A. Raugi, and G. Santaera for their valuable support in the development and validation of the prototype. ...
doi:10.1109/tro.2018.2830407
fatcat:nzxoqfgrajetjasidjqpvxxnqu
Towards Multi-finger Dexterous Hand Mechanics Control and Tactile Feedback
2021
International Journal of Cognitive Informatics and Natural Intelligence
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Finally, the future development of dexterous hands is predicted. ...
Mechanical control and haptic feedback are necessary conditions for the stable and accurate grasping of multi-finger dexterous hands. ...
ACKNowLeDGMeNT This work was supported by grants of the National Natural Science Foundation of China (Grant Nos.52075530,51575407, 51505349, 61733011, 41906177,52075530) ...
doi:10.4018/ijcini.286770
fatcat:nvi52shtxne5xjn3lkbax3onuy
A Novel Tele-Operated Flexible Robot Targeted for Minimally Invasive Robotic Surgery
2015
Engineering
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In this paper, a novel flexible robot system with a constrained tendon-driven serpentine manipulator (CTSM) is presented. ...
The CTSM gives the robot a larger workspace, more dexterous manipulation, and controllable stiffness compared with the da Vinci surgical robot and traditional flexible robots. ...
Compliance with ethics guidelines Zheng Li, Jan Feiling, Hongliang Ren, and Haoyong Yu declare that they have no conflict of interest or financial conflicts to disclose. ...
doi:10.15302/j-eng-2015011
fatcat:7tw6u64msvhvphynexge57545i
A versatile toolbox for studying anthropomorphic robot hands
2009
2009 IEEE International Conference on Systems, Man and Cybernetics
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In response to these needs, we present the ongoing development of our toolbox with the aim of providing a sufficient number of tools for modeling and simulating tendon-driven anthropomorphic hand mechanisms ...
In particular, resulting motions of hands due to tendon action have not been simulated in any existing virtual environment, to our knowledge. ...
Perhaps, the Newton-Euler recursive algorithm will be the best choice for simulating the motions of tendon-driven hand mechanism. ...
doi:10.1109/icsmc.2009.5346855
dblp:conf/smc/NichoN09
fatcat:z72lju4s5ve6tolyt5zg6bbp3e
Decoupled torque control of tendon-driven fingers with tension management
2013
The international journal of robotics research
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To facilitate human assembly tasks, Robonaut 2 is equipped with a dexterous, compact hand featuring fingers driven remotely by tendons. ...
This problem can be resolved by alternatively framing the controllers in the joint space of the finger. ...
The authors would like to thank Brian Hargrave, Matt Reiland, Lyndon Bridgwater and the rest of the R2 team for their role in the control and design of the hand. ...
doi:10.1177/0278364912468302
fatcat:n7n7anhnxjgm7e7z65meajta5m
A Backstepping control strategy for constrained tendon driven robotic finger
[article]
2019
arXiv
pre-print
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The task of controlling an underactuated robotic finger with a single tendon and a single actuator is difficult. ...
Simulation results are presented for single finger driven by a single actuator. ...
This paper presents a method of controlling the joint variables of a constrained underactuated tendon driven gripper mechanism. ...
arXiv:1811.02301v2
fatcat:642hcu2yvnbulnxpfcquqi2r5u
A Novel Synthesis of Computational Approaches Enables Optimization of Grasp Quality of Tendon-Driven Hands
2012
IEEE Transactions on robotics
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grasp quality of tendon-driven hands. ...
We propose a complete methodology to find the full set of feasible grasp wrenches and the corresponding wrench-directionindependent grasp quality for a tendon-driven hand with arbitrary design parameters ...
ACKNOWLEDGMENTS The authors gratefully acknowledge the useful comments by M. Kurse, B. Holt, and C. Raths. ...
doi:10.1109/tro.2012.2196189
pmid:23335864
pmcid:PMC3546350
fatcat:tafe7kpztfhu5ak623cxi36knq
A Novel Coupled and Self-adaptive Under-actuated Grasping Mode and the COSA-DTS Hand
[chapter]
2010
Lecture Notes in Computer Science
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Based on the two joints finger, a three joints finger is designed and the COSA-DTS Hand with double-tendon-slider mechanism is designed based on it. ...
The hand has 5 fingers, 15 joints and 6 motors. All fingers of the hand are COSA-DTS fingers. ...
In the fingers there are multiple joints and all joints are active driven by actuators. The robotic fingers are called dexterous fingers. ...
doi:10.1007/978-3-642-16584-9_6
fatcat:gvt4cbub3jh7vnei2fhxw7iia4
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