Tele-Operated High Speed Anthropomorphic Dextrous Hands with Object Shape and Texture Identification

This paper reports on the development of two number of robotic hands have been developed which focus on tele-operated high speed anthropomorphic dextrous robotic hands. The aim of developing these hands was to achieve a system that seamlessly interfaced between humans and robots. To provide sensory feedback, to a remote operator tactile sensors were developed to be mounted on the robotic hands. Two systems were developed, the first, being a skin sensor capable of shape reconstruction placed on the palm of the hand to feed back the shape of objects grasped and the second is a highly sensitive tactile array for surface texture identification

[1]  Hong Liu,et al.  DLR-Hand II: next generation of a dextrous robot hand , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[2]  Kostas J. Kyriakopoulos,et al.  The kinematics of the Anthrobot-2 dextrous hand , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[3]  Wim Michiels,et al.  Stabilizing a chain of integrators using multiple delays , 2004, IEEE Transactions on Automatic Control.

[4]  L. Robertson,et al.  Tracking and disturbance rejection of inaccessible signals linear systems , 2006, 2006 American Control Conference.

[5]  Chris Lovchik,et al.  The Robonaut hand: a dexterous robot hand for space , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[6]  Stephen C. Jacobsen,et al.  The UTAH/M.I.T. Dextrous Hand: Work in Progress , 1984 .

[7]  Robert Fuentes,et al.  TRACKING INACCESSIBLE SIGNALS IN LINEAR SYSTEMS , 2004 .

[8]  Nikolaos G. Tsagarakis,et al.  A portable fingertip tactile feedback array - transmission system reliability and modelling , 2005, First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics Conference.

[9]  S. SCHULZ,et al.  A new ultralight anthropomorphic hand , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[10]  Makoto Kaneko,et al.  A three fingered, multijointed gripper for experimental use , 1990, EEE International Workshop on Intelligent Robots and Systems, Towards a New Frontier of Applications.

[11]  Hong Liu,et al.  DLR's multisensory articulated hand. I. Hard- and software architecture , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[12]  Matthias Seitz,et al.  Vision Assisted Disassembly Using a Dexterous Hand-Arm-System: An Example and Experimental Results , 1994 .

[13]  Günter Wöhlke.  A programming and simulation environment for the karlsruhe dextrous hand , 1990, Robotics Auton. Syst..

[14]  W. Jongkind.  Dextrous gripping in a hazardous environment , 1993 .

[15]  W. Jongkind.  Dextrous gripping in a hazardous environment: guidelines, fault tolerance and control , 1993, Proceedings of IEEE Systems Man and Cybernetics Conference - SMC.

[16]  Nicolas Marchand,et al.  Improving the performance of nonlinear stabilization of multiple integrators with bounded controls , 2005 .

[17]  Nikolaos G. Tsagarakis,et al.  An integrated tactile/shear feedback array for stimulation of finger mechanoreceptor , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[18]  Nicolas Marchand,et al.  Global stabilization of multiple integrators with bounded controls , 2005, Autom..