DocumentCode
558966
Title
Design of hybrid type robotic hand : The KU hybrid HAND
Author
Jeong, Hyunhwan ; Cheong, Joono
Author_Institution
Dept. of Control & Instrum. Eng., Korea Univ., Jochiwon, South Korea
fYear
2011
fDate
26-29 Oct. 2011
Firstpage
1113
Lastpage
1116
Abstract
In this paper, we present a new robotic hand `KU hybrid HAND´ which can generate multiple modes of postures. Our hand has a hybrid mechanism realizing the two modes, which are human-like hand type and conventional robot hand type. It has four fingers, total 13 degrees of freedom(DOFs) by 13 actuators; the thumb has 4 DOFs and the three other fingers have three DOFs per each finger. We detail the design concept, kinematic analysis and functions of our hybrid robotic hand.
Keywords
design engineering; dexterous manipulators; manipulator kinematics; 4DOF robot thumb; KU hybrid robotic hand; actuators; human-like hand type; hybrid robotic hand design; postures; robot fingers; robot kinematic analysis; Current measurement; Humans; Joints; Kinematics; Robot sensing systems; Thumb; Hand Design; Hybrid Hand; Robotic Hand;
fLanguage
English
Publisher
ieee
Conference_Titel
Control, Automation and Systems (ICCAS), 2011 11th International Conference on
Conference_Location
Gyeonggi-do
ISSN
2093-7121
Print_ISBN
978-1-4577-0835-0
Type
conf
Filename
6106304
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