Download or read book Development and Experimental Study of a Bio inspired Anthropomorphic Robotic Hand with Human hand like Biomechanical Advantages and Performance written by Yiming Zhu and published by . This book was released on 2022 with total page 0 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book The Human Hand as an Inspiration for Robot Hand Development written by Ravi Balasubramanian and published by Springer. This book was released on 2014-01-03 with total page 573 pages. Available in PDF, EPUB and Kindle. Book excerpt: “The Human Hand as an Inspiration for Robot Hand Development” presents an edited collection of authoritative contributions in the area of robot hands. The results described in the volume are expected to lead to more robust, dependable, and inexpensive distributed systems such as those endowed with complex and advanced sensing, actuation, computation, and communication capabilities. The twenty-four chapters discuss the field of robotic grasping and manipulation viewed in light of the human hand’s capabilities and push the state-of-the-art in robot hand design and control. Topics discussed include human hand biomechanics, neural control, sensory feedback and perception, and robotic grasp and manipulation. This book will be useful for researchers from diverse areas such as robotics, biomechanics, neuroscience, and anthropologists.

Download or read book From Robot to Human Grasping Simulation written by Beatriz León and published by Springer Science & Business Media. This book was released on 2013-09-29 with total page 263 pages. Available in PDF, EPUB and Kindle. Book excerpt: The human hand and its dexterity in grasping and manipulating objects are some of the hallmarks of the human species. For years, anatomic and biomechanical studies have deepened the understanding of the human hand’s functioning and, in parallel, the robotics community has been working on the design of robotic hands capable of manipulating objects with a performance similar to that of the human hand. However, although many researchers have partially studied various aspects, to date there has been no comprehensive characterization of the human hand’s function for grasping and manipulation of everyday life objects. This monograph explores the hypothesis that the confluence of both scientific fields, the biomechanical study of the human hand and the analysis of robotic manipulation of objects, would greatly benefit and advance both disciplines through simulation. Therefore, in this book, the current knowledge of robotics and biomechanics guides the design and implementation of a simulation framework focused on manipulation interactions that allows the study of the grasp through simulation. As a result, a valuable framework for the study of the grasp, with relevant applications in several fields such as robotics, biomechanics, ergonomics, rehabilitation and medicine, has been made available to these communities.

Download or read book Achieving Human like Dexterity in Robotic Hands written by Taylor D. Niehues and published by . This book was released on 2017 with total page 266 pages. Available in PDF, EPUB and Kindle. Book excerpt: The human hand's unique biomechanical structure and neuromuscular control combine to produce amazing dexterous capabilities in a way that is still not fully understood. The Anatomically Correct Testbed (ACT) hand is a robotic system that is designed as a physical simulation of the human hand, and can help us examine and potentially uncover the roles of biomechanics and neural control in achieving dexterity. In this dissertation, I utilize the ACT hand and other robotic systems to explore the underlying sources of human hand dexterity, with the goal of understanding the fundamental differences between robotic and human hands in terms of (i) mechanical joint/tendon structure and (ii) control strategies. To begin, I develop comprehensive mechanical models that describe the musculoskeletal and tendon mechanics of the fingers and thumb of the human hand. Then, I work to isolate the contributions of biomechanical structure and neuromuscular control toward human dexterity. I have developed and implemented control strategies for achieving fine object manipulation first with the robotic hand of a space humanoid, Robonaut 2, and then with the ACT hand. I examined the unique control challenges, including uncontrollable joints and the requirement of accurate internal models, that arise due to the human hand's complex musculotendon structure and the potential advantages offered by the human hand's design, such as passive joint coupling to facilitate grasp shape adaptation and force production capabilities that are ideally suited for common manipulation tasks. Finally, inspired by the neuromuscular control strategies of the human hand, I have developed a novel hierarchical control strategy for the ACT hand and experimentally demonstrated improved grasp stability and manipulation capabilities compared to conventional robotic control laws. Through an in-depth exploration of human hand biomechanics and neuromuscular control, theoretical control analysis of robotic and human hands, and experimental demonstration of fine object manipulation, this work uncovers crucial insights into the sources of human hand dexterity that have the potential to drive innovative design and control strategies and bring robotic and prosthetic hands closer to human levels of dexterity.

Download or read book Approaching Human Performance written by Markus Grebenstein and published by Springer. This book was released on 2014-01-24 with total page 234 pages. Available in PDF, EPUB and Kindle. Book excerpt: Humanoid robotics have made remarkable progress since the dawn of robotics. So why don't we have humanoid robot assistants in day-to-day life yet? This book analyzes the keys to building a successful humanoid robot for field robotics, where collisions become an unavoidable part of the game. The author argues that the design goal should be real anthropomorphism, as opposed to mere human-like appearance. He deduces three major characteristics to aim for when designing a humanoid robot, particularly robot hands: - Robustness against impacts - Fast dynamics - Human-like grasping and manipulation performance Instead of blindly copying human anatomy, this book opts for a holistic design methodology. It analyzes human hands and existing robot hands to elucidate the important functionalities that are the building blocks toward these necessary characteristics. They are the keys to designing an anthropomorphic robot hand, as illustrated in the high performance anthropomorphic Awiwi Hand presented in this book. This is not only a handbook for robot hand designers. It gives a comprehensive survey and analysis of the state of the art in robot hands as well as the human anatomy. It is also aimed at researchers and roboticists interested in the underlying functionalities of hands, grasping and manipulation. The methodology of functional abstraction is not limited to robot hands, it can also help realize a new generation of humanoid robots to accommodate a broader spectrum of the needs of human society.

Download or read book Human Inspired Dexterity in Robotic Manipulation written by Tetsuyou Watanabe and published by Academic Press. This book was released on 2018-06-26 with total page 220 pages. Available in PDF, EPUB and Kindle. Book excerpt: Human Inspired Dexterity in Robotic Manipulation provides up-to-date research and information on how to imitate humans and realize robotic manipulation. Approaches from both software and hardware viewpoints are shown, with sections discussing, and highlighting, case studies that demonstrate how human manipulation techniques or skills can be transferred to robotic manipulation. From the hardware viewpoint, the book discusses important human hand structures that are key for robotic hand design and how they should be embedded for dexterous manipulation. This book is ideal for the research communities in robotics, mechatronics and automation. Investigates current research direction in robotic manipulation Shows how human manipulation techniques and skills can be transferred to robotic manipulation Identifies key human hand structures for robotic hand design and how they should be embedded in the robotic hand for dexterous manipulation

Download or read book Bio inspired Robotic Joint and Manipulator written by Pei-Hsin Kuo and published by . This book was released on 2014 with total page 364 pages. Available in PDF, EPUB and Kindle. Book excerpt: One of the greatest challenges in controlling robotic hands is grasping and manipulating objects in unstructured and uncertain environments. Robotic hands are typically too rigid to react against unexpected impacts and disturbances in order to prevent damage. The human hands have great versatility and robustness due, in part, to the passive compliance and damping. Designing mechanical elements that are inspired by the nonlinear joint compliance of human hands is a promising solution to achieve human-like grasping and manipulation. However, the exact role of biomechanical elements in realizing joint stiffness is unknown. We conducted a series of experiments to investigate nonlinear stiffness and damping of the metacarpophalangeal (MCP) joint at the index finger. We designed a custom-made mechanism to integrate electromyography sensors (EMGs) and a motion capture system to collect data from 19 subjects. We investigated the relative contributions of muscle-tendon units and the MCP capsule ligament complex to joint stiffness with subject-specific modeling. The results show that the muscle-tendon units provide limited contribution to the passive joint compliance. This findings indicate that the parallel compliance, in the form of the capsule-ligament complex, is significant in defining the passive properties of the hand. To identify the passive damping, we used the hysteresis loops to investigate the energy dissipation function. We used symbolic regression and principal component analysis to derive and interpret the damping models. The results show that the nonlinear viscous damping depends on the cyclic frequency, and fluid and structural types of damping also exist at the MCP joint. Inspired by the nonlinear stiffness of the MCP joint, we developed a miniaturized mechanism that uses pouring liquid plastic to design energy storing elements. The key innovations in this design are: a) a set of nonlinear elasticity of compliant materials, b) variable pulley configurations to tune the stiffness profile, and c) pretension mechanism to scale the stiffness profile. The design exhibits human-like passive compliance. By taking advantage of miniaturized joint size and additive manufacturing, we incorporated the novel joint design in a novel robotic manipulator with six series elastic actuators (SEA). The robotic manipulator has passive joint compliance with the intrinsic property of human hands. To validate the system, we investigated the Cartesian stiffness of grasping with low-level force control. The results show that that the overall system performs a great force tracking with position feedback. The parallel compliance decreases the motor efforts and can stabilize the system.

Download or read book Human and Robot Hands written by Matteo Bianchi and published by Springer. This book was released on 2016-02-24 with total page 284 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book looks at the common problems both human and robotic hands encounter when controlling the large number of joints, actuators and sensors required to efficiently perform motor tasks such as object exploration, manipulation and grasping. The authors adopt an integrated approach to explore the control of the hand based on sensorimotor synergies that can be applied in both neuroscience and robotics. Hand synergies are based on goal-directed, combined muscle and kinematic activation leading to a reduction of the dimensionality of the motor and sensory space, presenting a highly effective solution for the fast and simplified design of artificial systems. Presented in two parts, the first part, Neuroscience, provides the theoretical and experimental foundations to describe the synergistic organization of the human hand. The second part, Robotics, Models and Sensing Tools, exploits the framework of hand synergies to better control and design robotic hands and haptic/sensing systems/tools, using a reduced number of control inputs/sensors, with the goal of pushing their effectiveness close to the natural one. Human and Robot Hands provides a valuable reference for students, researchers and designers who are interested in the study and design of the artificial hand.

Download or read book Design and Control of an Anthropomorphic Robotic Hand written by Zhe Xu and published by . This book was released on 2015 with total page 174 pages. Available in PDF, EPUB and Kindle. Book excerpt: According to the cortical homunculus, our hand function requires over one quarter of the brain power allocated for the whole body's motor/sensory activities. The evolutionary role of the human hand is more than just being the manipulation tool that allows us to physically interact with the world. Recent study shows that our hands can also affect the mirror neuron system that enables us to cognitively learn and imitate the actions of others. However the state-of-art technologies only allow us to make cosmetically true-to-life prosthetic hands with cadaver-like stiff joints made of mechanical substitutes. And very few research groups know how to design robotic hands that can closely mimic the salient biological features of the human hand. The goal of our project is to reduce cognitive and physical discrepancy, in the cases where we need a pair of our hands interacting with a different environment remotely. Our project will try to answer the following questions: With the great advance of 3D-printing technologies, and promising new materials for artificial muscles and ligaments, can we design a personalized anthropomorphic robotic hand that possesses all the favorable functions of our very own hand? With such a robotic hand, can we reduce the control space, and establish a easy mapping for the human user to effectively control it? Is it possible to teleoperate the robotic hand to perform amazingly dexterous tasks without force feedback as those surgical robots demonstrated? To answer these questions, we are going to investigate the design and control of our proposed anthropomorphic robotic hand.

Download or read book Teleoperated Grasping Using an Upgraded Haptic Enabled Human Like Robotic Hand and a CyberTouch Glove written by Qi Zhu and published by . This book was released on 2020 with total page pages. Available in PDF, EPUB and Kindle. Book excerpt: Grasping, the skill to hold objects and tools while doing in-hand manipulation, still is in many cases an unsolvable problem for robotics, but a natural act for humans. An efficient grasping requires not only human-like robotic hands with articulated fingers but also tactile, force, and kinesthetic sensors for the precise control of the forces and motions exerted during the manipulation. As a fully autonomous robotic dexterous manipulation is too difficult to develop for changing and unstructured environments, an alternative approach is to combine the low-level robot computer control with the higher-level perception and task planning abilities of a human operator equipped with an adequate human-computer interface (HCI). This thesis presents theoretical and experimental contributions to the development of an upgraded haptic-enabled anthropomorphic Ring Ada dexterous robotic hand and a biology-inspired synergistic real-time control system for teleoperated grasping of different objects using a CyberTouch HCI data glove. A fuzzy logic controller module was developed to efficiently control the underactuated Ring Ada' robotic hand during grasping. A machine learning classification system was developed to recognize grasped objects. Experiments have convincingly demonstrated that our novel Ring Ada robotic hand equipped with kinematic position sensors and touch sensors is able to efficiently grasp different lightweight objects through teleoperation.

Download or read book Bioinspired Sinusoidal Finger Joint Synergies for a Dexterous Robotic Hand to Screw and Unscrew Objects written by Nareen Karnati and published by . This book was released on 2012 with total page 99 pages. Available in PDF, EPUB and Kindle. Book excerpt: This work deals with the complex task of unscrewing and screwing a threaded bottle cap with a dexterous anthropomorphic robotic hand in two cases: i.e, with the thumb-first finger and also with the thumb-little finger. To that end, human motion profiles of nine test subjects were recorded while unscrewing and screwing a bottle cap with five different orientations of their hand with respect to the bottle. Results showed that the periodic motions exhibited by the finger joints shared a common frequency for each subject, but differed in amplitude and phase. From the gathered data, a set of sinusoidal trajectories were developed to approximate this motion for a robotic hand. Because the joint trajectories share the same frequency, a family of sinusoidal inputs can be used in the path planning of the robot to unscrew and screw threaded objects. This significantly reduces the computational cost and complexity of the task. Additionally, the unscrewing data appears highly similar to the mirror image of the screwing data. This implies that the transition to or from screwing or unscrewing motions can be achieved simply by increasing or decreasing the time vector within the family of sinusoids. Simulation results show that the developed sinusoidal trajectories show a close correlation with the motion profiles seen from human experiments. Furthermore, this solution is broadened to two cases. Case1: objects with wide variations in diameters by relating joint angle offsets of the hand to diameter size through the forward kinematics equations. Additional experiments are performed with different object diameters to show the versatility of the concept. The sinusoidal trajectories are all implemented within a PID sliding mode controller to ensure overall system stability. Using the developed sinusoidal joint angle trajectories, the robotic hand successfully unscrewed and screwed four different objects in all trials conducted with each object diameter size. Case2: An adaptive synergy controller is presented which autonomously modulates the finger synergies of a dexterous robotic hand according to the relative orientation of a grasped object. The adaptive synergy controller is derived from approximating the human motion of unscrewing a bottle cap with sinusoids to replicate the task with a robotic hand. Data from human experiments were used to develop an adaptive synergy controller that autonomously modulates the artificial robotic finger motions in accordance with the orientation angle of the manipulator with respect to the grasped object. By choosing appropriate phase and amplitude parameters for the sinusoids used to drive the adaptive synergy controller, the complex motions involved in performing this task can be controlled by a single input. Experimental results of the adaptive synergy controller show that the control strategy successfully allows a dexterous robotic hand to unscrew and screw objects in multiple orientations using only a single input.

Download or read book Methodology for Designing and Manufacturing Complex Biologically Inspired Soft Robotic Fluidic Actuators written by Elliot Thompson-Bean and published by . This book was released on 2016 with total page 144 pages. Available in PDF, EPUB and Kindle. Book excerpt: A novel methodology for the design and manufacture of complex biologically inspired soft robotic fluidic actuators is presented. The methodology is applied to the design and manufacture of a prosthetic for the hand. This methodology is significant as it removes the need to perform complex ad hoc and in depth analysis of biological or soft robotic motions, when designing soft robots. This methodology provides a significant step towards developing more robust and complex, biologically inspired soft robots, with considerably improved performance. Real human hands are scanned to produce a 3D model of a finger, and pneumatic networks are implemented within it, to produce a biomimetic bending motion. The finger is then partitioned into material sections, and a genetic algorithm based optimization, using finite element analysis, is employed to discover the optimal material for each section. This is based on two biomimetic performance criteria. Two sets of optimizations using two material sets are performed. Promising optimized material arrangements are fabricated using two techniques to validate the optimization routine, and the fabricated and simulated results are compared. The optimization is successful in producing biomimetic soft robotic fingers, and fabrication of the fingers is possible. Limitations and paths for development are discussed. This methodology can be applied to other fluidic soft robotic devices. A study from the University of Auckland School of Psychology into the perception of soft robots is also assisted. Two soft robotic prosthetic fingers and one rigid prosthetic finger are fabricated, as well as a testing rig, to aid in the carrying out of experiments. The results reveal that stiffer soft robotic materials similar to SmoothSil 940, are better suited for the fabrication of fluidic soft robots, which are intended for applications involving interactions with human beings via touch, such as prosthetics. This project is funded by the New Zealand Artificial Limb Service. Thus, the end user of the prosthetic device is considered throughout the work, as both the physical and social and emotional features of a prosthetic for the hand, are addressed.

Download or read book Frontiers in Neurorobotics Editor s Pick 2021 written by Florian Röhrbein and published by Frontiers Media SA. This book was released on 2021-06-24 with total page 159 pages. Available in PDF, EPUB and Kindle. Book excerpt:

Download or read book Augmenting Human Manipulation Abilities with Supernumerary Robotic Limbs written by Irfan Hussain and published by Springer Nature. This book was released on 2020-07-17 with total page 155 pages. Available in PDF, EPUB and Kindle. Book excerpt: This book offers a timely report on an emerging topic in the field of wearable assistive technology: the design and development of robotic extra fingers. After a concise review of the state of the art and a description of earlier prototypes, it discusses the authors’ efforts to address issues such as portability and wearability of the devices, including strategies to reduce fatigue and to integrate the motion of the extra fingers with that of the human hand. The book also explores optimized control algorithms and the design of wearable sensorimotor interfaces, and presents a set of tests carried out on healthy subjects and chronic stroke patients. Merging concepts from robotics, biomechanics, human factors and control theory and offering an overview of supernumerary robotic fingers, including the challenges, this book will inspire researchers involved in the development of wearable robotic devices and interfaces based on the principles of wearability, safety, ergonomics and user comfort.

Download or read book UTHM Hand A Dexterous and Anthropomorphic Industrial Robotic Hand written by M. Atif Yaqub and published by LAP Lambert Academic Publishing. This book was released on 2013 with total page 212 pages. Available in PDF, EPUB and Kindle. Book excerpt: Robots have become an integral part of modern human life. With every passing year the population of robots is being increased. The industry has replaced a large number of human workers with lesser number of robots on the grounds of economy and efficiency. A robot is a modern version of slave, which perform any task in its capacity satisfying the old human instinct to rule. A robot follows the command as ordered by the human master. Therefore the humans can still enjoy mastering a thoughtless, speechless but efficient slave under their authority. To err is human. But industrialists do not accept the error prone human slaves in their industries due to the financial losses caused by the humanly mistakes. Another reason is the hostile environments in industry which causes serious threat to workers. Hence the trend to replace humans by robotic machines is escalating. Therefore, this book is inquisitively focused on developing a robotic machine that can mimic human hand working in industry.

Download or read book Humanoid Robotics and Neuroscience written by Gordon Cheng and published by CRC Press. This book was released on 2014-12-19 with total page 288 pages. Available in PDF, EPUB and Kindle. Book excerpt: Humanoid robots are highly sophisticated machines equipped with human-like sensory and motor capabilities. Today we are on the verge of a new era of rapid transformations in both science and engineering-one that brings together technological advancements in a way that will accelerate both neuroscience and robotics. Humanoid Robotics and Neuroscienc

Download or read book Dextrous Robot Hands written by Subramanian T. Venkataraman and published by Springer Science & Business Media. This book was released on 2012-12-06 with total page 349 pages. Available in PDF, EPUB and Kindle. Book excerpt: Manipulation using dextrous robot hands has been an exciting yet frustrating research topic for the last several years. While significant progress has occurred in the design, construction, and low level control of robotic hands, researchers are up against fundamental problems in developing algorithms for real-time computations in multi-sensory processing and motor control. The aim of this book is to explore parallels in sensorimotor integration in dextrous robot and human hands, addressing the basic question of how the next generation of dextrous hands should evolve. By bringing together experimental psychologists, kinesiologists, computer scientists, electrical engineers, and mechanical engineers, the book covers topics that range from human hand usage in prehension and exploration, to the design and use of robotic sensors and multi-fingered hands, and to control and computational architectures for dextrous hand usage. While the ultimate goal of capturing human hand versatility remains elusive, this book makes an important contribution to the design and control of future dextrous robot hands through a simple underlying message: a topic as complex as dextrous manipulation would best be addressed by collaborative, interdisciplinary research, combining high level and low level views, drawing parallels between human studies and analytic approaches, and integrating sensory data with motor commands. As seen in this text, success has been made through the establishment of such collaborative efforts. The future will hold up to expectations only as researchers become aware of advances in parallel fields and as a common vocabulary emerges from integrated perceptions about manipulation.