Designing Anthropomorphic Robot Hand with Active Dual-Mode Twisted String Actuation Mechanism
In the paper, using the active dual-mode twisted string actuation (TSA) mechanism and tiny tension sensors on the tendon strings, an anthropomorphic robot hand is newly designed in a compact manner. Thanks to the active dual-mode TSA mechanism, which is a miniaturized transmission, the proposed robot hand dose have a wide range of operation in terms of the grasping force and speed. It experimentally produces maximally the fingertip force 31.3 N and minimally the closing time of 0.5 s in average. Also, tiny tension sensor with the dimension of 4.7(width)4.0(height)10.75(length) mm are newly presented and embedded at the fingertips in order to measure the tension on the tendon strings, which would allow the grasping force control. The kinetic and kinematic analyses are performed and the performance is verified by experiments.
https://sites.google.com/site/seokhwannnn/
http://msc.kaist.ac.kr/
Related Reference
[1] S. H. Jeong, K.-S. Kim, and S. Kim, "Development of a Robotic Finger with an Active Dual-mode Twisting Actuation and a Miniature Tendon Tension Sensor," presented at the IEEE International Conference on Advanced and Intelligent Mechatronics, 2016.
[2] S. H. Jeong, K.-S. Kim, and S. Kim, "Designing Anthropomorphic Robot Hand with Active Dual-Mode Twisted String Actuation Mechanism and Tiny Tension Sensors", IEEE Robotics and Automation Letter, 2017
[3] S. H. Jeong, K.-S. Kim, and S. Kim, "Control of and Experimentation on an Active Dual-Mode Twisted String Actuation Mechanism," presented at the IEEE International Conference on Advanced and Intelligent Mechatronics, 2017.
[4] S. H. Jeong, Y. J. Shin and K. S. Kim, "Design and Analysis of the Active Dual-Mode Twisting Actuation Mechanism," in IEEE/ASME Transactions on Mechatronics, vol. PP, no. 99, pp. 1-1 (in press, DOI:10.1109/TMECH.2017.2767783).
Видео Designing Anthropomorphic Robot Hand with Active Dual-Mode Twisted String Actuation Mechanism канала MSC kaist
https://sites.google.com/site/seokhwannnn/
http://msc.kaist.ac.kr/
Related Reference
[1] S. H. Jeong, K.-S. Kim, and S. Kim, "Development of a Robotic Finger with an Active Dual-mode Twisting Actuation and a Miniature Tendon Tension Sensor," presented at the IEEE International Conference on Advanced and Intelligent Mechatronics, 2016.
[2] S. H. Jeong, K.-S. Kim, and S. Kim, "Designing Anthropomorphic Robot Hand with Active Dual-Mode Twisted String Actuation Mechanism and Tiny Tension Sensors", IEEE Robotics and Automation Letter, 2017
[3] S. H. Jeong, K.-S. Kim, and S. Kim, "Control of and Experimentation on an Active Dual-Mode Twisted String Actuation Mechanism," presented at the IEEE International Conference on Advanced and Intelligent Mechatronics, 2017.
[4] S. H. Jeong, Y. J. Shin and K. S. Kim, "Design and Analysis of the Active Dual-Mode Twisting Actuation Mechanism," in IEEE/ASME Transactions on Mechatronics, vol. PP, no. 99, pp. 1-1 (in press, DOI:10.1109/TMECH.2017.2767783).
Видео Designing Anthropomorphic Robot Hand with Active Dual-Mode Twisted String Actuation Mechanism канала MSC kaist
Показать
Комментарии отсутствуют
Информация о видео
Другие видео канала
LIMS2-AMBIDEX mechanical designParallel Cable driven Anthropomorphic Robotic HandTop 5 UNREAL Micro RobotsDARA Robot finger demonstrationAugmented Future - Open Bionics × Deus Ex × Razeruc soft handAdvanced Humanoid Robot Design Part 4MOST AMAZING ROBOT HAND -- Mind Blow #102Biomechanics of the CMC Joint for Bionic Hands - Biomimetic Mechatronic Hand Part 4Robot hand with 2-speed transmission mechanism based on twisted string actuationHow to Make a Mechanical Arm at Home out of Cardboard (DIY)The Mind-Controlled Bionic Arm With a Sense of TouchHand Anatomy Animated TutorialTesting a Jumping Robot Leg with Elastic Tendon | James BrutonRobot Hand "HANDROID 10" ITK.japanHow are robots built?The Teen With The Bionic Arms | SHAKE MY BEAUTYAnthropomorphic Robotic Finger with Bio-mimetic JointsPrototyping a Full Bionic Finger - Biomimetic Mechatronic Hand Part 3How to make a robot arm and fingers