Modular, Underactuated Anthropomorphic Robot Hand with Flexible Fingers and Twisted String Actuators

Muhammad Faiz  Rahman; Kaiqiang Zhang; Guido Herrmann

doi:10.1007/978-3-030-25332-5_47

Modular, Underactuated Anthropomorphic Robot Hand with Flexible Fingers and Twisted String Actuators

Muhammad Faiz Rahman, Kaiqiang Zhang, Guido Herrmann

EEE - Academic & Research

Research output: Chapter in Book/Conference proceeding › Conference contribution › peer-review

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Abstract

For general grasping, a strong lightweight and compact robot hand needs to be designed as a robot end effector. This paper describes the design of a 3D printed anthropomorphic robot hand that actuates flexible fingers using Twisted String Actuators (TSAs). A total of 6 of these actuators were fitted within a limited confined space, the palm of the hand. This gives the hand 6 Degrees of Freedom (DOFs) 2 in the thumb and 1 in each of the other fingers. A simple modular design was used which allows for rapid prototyping of different finger designs with respect to different requirements at low cost. In this paper, only power grasping is considered for simplicity. The hand is capable of performing both spherical and cylindrical grasps whereby the flexible nature of the fingers allows for forming around the geometry of a target object. The maximum holding load of the hand was found to be 10 kg in performance tests.

Original language	English
Title of host publication	Towards Autonomous Robotic Systems (TAROS 2019)
DOIs	https://doi.org/10.1007/978-3-030-25332-5_47
Publication status	Published - 17 Jul 2019

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ModularUnderActuatedAnthropomorphicRobotHandAccepted author manuscript, 1.2 MB

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title = "Modular, Underactuated Anthropomorphic Robot Hand with Flexible Fingers and Twisted String Actuators",

abstract = "For general grasping, a strong lightweight and compact robot hand needs to be designed as a robot end effector. This paper describes the design of a 3D printed anthropomorphic robot hand that actuates flexible fingers using Twisted String Actuators (TSAs). A total of 6 of these actuators were fitted within a limited confined space, the palm of the hand. This gives the hand 6 Degrees of Freedom (DOFs) 2 in the thumb and 1 in each of the other fingers. A simple modular design was used which allows for rapid prototyping of different finger designs with respect to different requirements at low cost. In this paper, only power grasping is considered for simplicity. The hand is capable of performing both spherical and cylindrical grasps whereby the flexible nature of the fingers allows for forming around the geometry of a target object. The maximum holding load of the hand was found to be 10 kg in performance tests.",

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AU - Zhang, Kaiqiang

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N2 - For general grasping, a strong lightweight and compact robot hand needs to be designed as a robot end effector. This paper describes the design of a 3D printed anthropomorphic robot hand that actuates flexible fingers using Twisted String Actuators (TSAs). A total of 6 of these actuators were fitted within a limited confined space, the palm of the hand. This gives the hand 6 Degrees of Freedom (DOFs) 2 in the thumb and 1 in each of the other fingers. A simple modular design was used which allows for rapid prototyping of different finger designs with respect to different requirements at low cost. In this paper, only power grasping is considered for simplicity. The hand is capable of performing both spherical and cylindrical grasps whereby the flexible nature of the fingers allows for forming around the geometry of a target object. The maximum holding load of the hand was found to be 10 kg in performance tests.

AB - For general grasping, a strong lightweight and compact robot hand needs to be designed as a robot end effector. This paper describes the design of a 3D printed anthropomorphic robot hand that actuates flexible fingers using Twisted String Actuators (TSAs). A total of 6 of these actuators were fitted within a limited confined space, the palm of the hand. This gives the hand 6 Degrees of Freedom (DOFs) 2 in the thumb and 1 in each of the other fingers. A simple modular design was used which allows for rapid prototyping of different finger designs with respect to different requirements at low cost. In this paper, only power grasping is considered for simplicity. The hand is capable of performing both spherical and cylindrical grasps whereby the flexible nature of the fingers allows for forming around the geometry of a target object. The maximum holding load of the hand was found to be 10 kg in performance tests.

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DO - 10.1007/978-3-030-25332-5_47

M3 - Conference contribution

BT - Towards Autonomous Robotic Systems (TAROS 2019)

ER -

Modular, Underactuated Anthropomorphic Robot Hand with Flexible Fingers and Twisted String Actuators

Abstract

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