SKKU Hand Arm System: Hardware and Control Scheme

In this work, we introduce the SKKU Hand Arm System I (SKKU-HAS-I) focusing on the hardware design and control scheme of the arm and hand systems. For the robot arm system, a driving module unit is designed and the workspace analysis is performed for the arm. A Virtual Spring Damper based controller is applied to the arm system for the task of the control. The design of the robot hand is based on mimicking the human hand and we perform an optimization process for three different design measures, workspace intersection volumes, manipulability, and opposing angles. The developed robot hand is equipped with various sensors for the contact information. Experimental results are provided for the evaluation of the developed robot hand.

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