Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 27, Issue 5, Pages 2930-2941Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2021.3124316
Keywords
Biomechanisms; mechanical design; multifingered hands; synergy; underactuation
Categories
Funding
- National Key RD Program [2018YFB1308604]
- National Natural Science Foundation of China [61733004]
- Natural Science Foundation of Hunan Province [2020JJ5054]
- Hunan Key Laboratory of Intelligent Robot Technology in Electronic Manufacturing [IRT2018005]
- Fundamental Research Funds for the Central Universities [531107051013]
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This article explores the application of hand synergy in robot hand design, aiming to achieve versatile grasping functions by reconstructing key biomechanical characteristics. By combining human hand synergies with anatomy and biomechanics, a mechanical simplification design method is proposed for robot hands.
Hand synergy from neuroscience provides an effective tool for anthropomorphic hands to realize versatile grasping with simple planning and control. This article aims to extend the synergy-inspired design from anthropomorphic hands to general multifingered robot hands by reconstructing mechanically the crucial biomechanical characteristics of hand synergy. The synergy-inspired hands are not necessarily humanoid in morphology but perform primary functions like the human hand. At first, the biomechanics of hand synergy is investigated by combining human hand synergies with the anatomy of the musculoskeletal system. Three biomechanical characteristics of the human hand synergy are explored as a basis for the mechanical simplification of robot hands. Second, based on the three synergy characteristics, a design method of robotic hands is proposed. A three-fingered hand is designed, and some typical grasping and in-hand manipulation functions are analyzed. Finally, a prototype is developed, and experiments of grasping and in-hand manipulation are carried out to validate the effectiveness of the design method.
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