Robotic Hands and Underactuated Finger Mechanisms

A real biologic hand has the features of compact volume, many fingers, many degree of freedoms, and strong grasp force, which brings big challenges to built a robotic hand-like real hand. In fact, all of the power supply, drivers, control system, sensors, and information processing system are need to be installed in the humanoid robot itself, which provides very strict power cost and real-time control as well as the humanoid appearance of the humanoid robot hand.

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

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

[3]  Clément Gosselin,et al.  Grasp-state plane analysis of two-phalanx underactuated fingers , 2006 .

[4]  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.

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

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

[7]  Hong Liu,et al.  A Five-fingered Underactuated Prosthetic Hand System , 2006, 2006 International Conference on Mechatronics and Automation.

[8]  Clément Gosselin,et al.  Kinetostatic analysis of underactuated fingers , 2004, IEEE Transactions on Robotics and Automation.

[9]  S. Naumann,et al.  Multiple finger, passive adaptive grasp prosthetic hand , 2001 .

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

[11]  Dongbin Zhao,et al.  Passive adaptive grasp multi-fingered humanoid robot hand with high under-actuated function , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

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

[13]  W.A. Gruver,et al.  Design and control of the BUAA four-fingered hand , 2001, Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164).

[14]  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).

[15]  Aaron Edsinger-Gonzales.  Design of a Compliant and Force Sensing Hand for a Humanoid Robot , 2005 .

[16]  Giuliana Mattiazzo,et al.  Design and development of a pneumatic anthropomorphic hand , 2000, J. Field Robotics.

[17]  Marco Ceccarelli,et al.  Design Considerations for Underactuated Grasp with a one D.O.F. Anthropomorphic Finger Mechanism , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[18]  Zhang Wenzeng.  Under-actuated humanoid robot hand with changeable grasping force , 2003 .

[19]  Minzhou Luo,et al.  Grasp characteristics of an underactuated robot hand , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[20]  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).

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

[22]  Marco Ceccarelli,et al.  Optimal design of driving mechanism in a 1-DOF anthropomorphic finger , 2006 .

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

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

[25]  Paolo Dario,et al.  Design, fabrication and preliminary results of a novel anthropomorphic hand for humanoid robotics: RCH-1 , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[26]  Young C. Park,et al.  Grasp Synthesis of Polygonal Objects Using a Three-Fingered Robot Hand , 1992 .

[27]  Marco Ceccarelli,et al.  Fundamentals of Mechanics of Robotic Manipulation , 2004, Mechanisms and Machine Science.