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The Control of Tendon-Driven Dexterous Hands with Joint Simulation

Jinbao Chen, Dong Han
2014 Sensors  
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


Hao LIU, Wei FAN, Lin YU, Guang-zheng PENG, Tao WANG
2008 Proceedings of the JFPS International symposium on fluid power  
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

Vikash Kumar, Yuval Tassa, Tom Erez, Emanuel Todorov
2014 2014 IEEE International Conference on Robotics and Automation (ICRA)  
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

Vikash Kumar, Zhe Xu, Emanuel Todorov
2013 2013 IEEE International Conference on Robotics and Automation  
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]

Dominik Bauer, Cornelia Bauer, Arjun Lakshmipathy, Roberto Shu, Nancy S. Pollard
2022 arXiv   pre-print
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

Charalambos Konnaris, Constantinos Gavriel, Andreas A.C. Thomik, A. Aldo Faisal
2016 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)  
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]

Romina Mir, Ali Marjaninejad, Francisco J. Valero-Cuevas
2020 arXiv   pre-print
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

Cosimo Della Santina, Cristina Piazza, Giorgio Grioli, Manuel G. Catalano, Antonio Bicchi
2018 IEEE Transactions on robotics  
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  
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

Zheng Li, Jan Feiling, Hongliang Ren, Haoyong Yu
2015 Engineering  
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

Jorge Nicho, Brent Nowak
2009 2009 IEEE International Conference on Systems, Man and Cybernetics  
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

Muhammad E Abdallah, Robert Platt, Charles W Wampler
2013 The international journal of robotics research  
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]

Kunal Sanjay Narkhede, Aashay Anil Bhise, IA Sainul, Sankha Deb
2019 arXiv   pre-print
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

Joshua M. Inouye, Jason J. Kutch, Francisco J. Valero-Cuevas
2012 IEEE Transactions on robotics  
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]

Jie Sun, Wenzeng Zhang, Haitao Sun
2010 Lecture Notes in Computer Science  
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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