The ability of underactuated hands to grasp and hold objects

In order to calculate and measure the performance of underactuated hands to pick up and move various objects, two new performance metrics have been defined. These metrics quantify the capability to achieve stable grasp equilibrium of a range of freely moving objects (ability to grasp), and the capability to keep hold of the grasped objects while disturbing forces are applied (ability to hold). The calculations and measurements of these metrics are shown for cable-pulley driven hands.

[1]  J. Schuurmans,et al.  Grasp force optimization in the design of an underactuated robotic hand , 2007, 2007 IEEE 10th International Conference on Rehabilitation Robotics.

[2]  Shigeki Toyama,et al.  International Conference on Intelligent Robots and Systems Design of the TUAT / Karlsruhe Humanoid Hand , 2004 .

[3]  Venketesh N. Dubey,et al.  Evolution of a Novel Finger Mechanism for Robust Industrial End Effectors , 2008 .

[4]  Clément Gosselin,et al.  Underactuation in robotic grasping hands , 2002 .

[5]  Xiangrong Shen,et al.  A Gas-Actuated Anthropomorphic Prosthesis for Transhumeral Amputees , 2008, IEEE Transactions on Robotics.

[6]  Paolo Dario,et al.  The SPRING Hand: Development of a Self-Adaptive Prosthesis for Restoring Natural Grasping , 2004, Auton. Robots.

[7]  Libor Preucil,et al.  European Robotics Symposium 2008 , 2008 .

[8]  Hong Liu,et al.  The Mechanical Design and Experiments of HIT/DLR Prosthetic Hand , 2006, 2006 IEEE International Conference on Robotics and Biomimetics.

[9]  Clément Gosselin,et al.  Design of Sub-Centimetre Underactuated Compliant Grippers , 2006 .

[10]  Just L. Herder,et al.  Equilibrium, Stability, and Robustness in Underactuated Grasping , 2007 .

[11]  Vincent Begoc,et al.  Mechanical design of a new pneumatically driven underactuated hand , 2007, Proceedings 2007 IEEE International Conference on Robotics and Automation.

[12]  Yoji Umetani,et al.  The Development of Soft Gripper for the Versatile Robot Hand , 1978 .

[13]  Silvestro Micera,et al.  Design of a cybernetic hand for perception and action , 2006, Biological Cybernetics.

[14]  Dongbin Zhao,et al.  Under-actuated passive adaptive grasp humanoid robot hand with control of grasping force , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[15]  Maria Chiara Carrozza,et al.  Biomechatronic Design and Control of an Anthropomorphic Artificial Hand for Prosthetic and Robotic Applications , 2007 .

[16]  Sébastien Krut,et al.  Grasp-stability analysis of a two-phalanx isotropic underactuated finger , 2007, 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[17]  Just L. Herder,et al.  Ability to hold grasped objects by underactuated hands: Performance prediction and experiments , 2009, 2009 IEEE International Conference on Robotics and Automation.

[18]  M LeBlanc,et al.  The design and development of a gloveless endoskeletal prosthetic hand. , 1998, Journal of rehabilitation research and development.

[19]  Antonio Bicchi,et al.  Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity , 2000, IEEE Trans. Robotics Autom..

[20]  William Townsend,et al.  The BarrettHand grasper – programmably flexible part handling and assembly , 2000 .

[21]  Just L. Herder,et al.  An Underactuated Prosthesis Finger Mechanism With Rolling Joints , 2004 .

[22]  Kuni Sadamoto,et al.  Mechanical hands illustrated , 1987 .

[23]  Paolo Dario,et al.  Closed-loop controller for a bio-inspired multi-fingered underactuated prosthesis , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[24]  Marco Ceccarelli,et al.  Designing an underactuated mechanism for a 1 active DOF finger operation , 2009 .

[25]  Paolo Dario,et al.  Design and development of an underactuated prosthetic hand , 2002, Proceedings 2002 IEEE International Conference on Robotics and Automation (Cat. No.02CH37292).

[26]  Takashi Maeno,et al.  Underactuated five-finger prosthetic hand inspired by grasping force distribution of humans , 2008, 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[27]  Clément Gosselin,et al.  Dynamic Simulation and Optimization of Underactuated Robotic Fingers , 2002 .

[28]  Carlos Balaguer,et al.  Optimized design of the underactuated robotic hand , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[29]  Robert D. Howe,et al.  Towards grasping in unstructured environments: grasper compliance and configuration optimization , 2005, Adv. Robotics.

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

[31]  H de Visser,et al.  Force-directed design of a voluntary closing hand prosthesis. , 2000, Journal of rehabilitation research and development.

[32]  A.M. Dollar,et al.  The SDM Hand as a Prosthetic Terminal Device: A Feasibility Study , 2007, 2007 IEEE 10th International Conference on Rehabilitation Robotics.

[33]  Clément Gosselin,et al.  Simulation and design of underactuated mechanical hands , 1998 .

[34]  Richard M. Crowder,et al.  A multi-fingered end effector for unstructured environments , 1999, Proceedings 1999 IEEE International Conference on Robotics and Automation (Cat. No.99CH36288C).

[35]  Clément Gosselin,et al.  An anthropomorphic underactuated robotic hand with 15 dofs and a single actuator , 2008, 2008 IEEE International Conference on Robotics and Automation.

[36]  G. Figliolini,et al.  Ca.U.M.Ha. robotic hand (Cassino-Underactuated-Multifinger-Hand) , 2007, 2007 IEEE/ASME international conference on advanced intelligent mechatronics.

[37]  J.D. Crisman,et al.  Graspar: a flexible, easily controllable robotic hand , 1996, IEEE Robotics Autom. Mag..

[38]  Paolo Dario,et al.  Experimental analysis of an innovative prosthetic hand with proprioceptive sensors , 2003, 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422).

[39]  Vincent Begoc,et al.  On the Form-Closure Capability of Robotic Underactuated Hands , 2006, 2006 9th International Conference on Control, Automation, Robotics and Vision.

[40]  Just L. Herder,et al.  A Platform for Grasp Performance Assessment in Compliant or Underactuated Hands , 2010 .

[41]  Chen Qiang,et al.  Superunderactuated Multifingered Hand for Humanoid Robot , 2006 .

[42]  Sébastien Krut.  A Force-Isotropic Underactuated Finger , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[43]  Silvestro Micera,et al.  A Cosmetic Prosthetic Hand with Tendon Driven Under-Actuated Mechanism and Compliant Joints: Ongoing Research and Preliminary Results , 2005, Proceedings of the 2005 IEEE International Conference on Robotics and Automation.

[44]  Jun-Uk Chu,et al.  Design and control of a multifunction myoelectric hand with new adaptive grasping and self-locking mechanisms , 2008, 2008 IEEE International Conference on Robotics and Automation.