Ca.U.M.Ha. robotic hand (Cassino-Underactuated-Multifinger-Hand)

Author

Figliolini, G. ; Rea, P.

Author_Institution

Cassino Univ., Cassino

fYear

2007

fDate

4-7 Sept. 2007

Firstpage

1

Lastpage

6

Abstract

The mechatronic design of Ca.U.M.Ha. (Cassino-Underactuated-Multifinger-Hand) and the analysis of some experimental grasping tests of a built prototype are presented in this paper. Ca.U.M.Ha. robotic hand shows an anthropomorphic design since provided of four articulated fingers and a simplified contrasting thumb, which are all joined to a rigid palm. The main characteristics of Ca.U.M.Ha. are the underactuation of each finger mechanism with three phalanxes and the common operation through PWM (pulse- width-modulation) modulated pneumatic digital valves of the four articulated fingers with pneumatic actuation. The actuation force control of Ca.U.M.Ha. is obtained by controlling the pressure in the pushing chambers of the pneumatic actuators.

Keywords

control system synthesis; force control; manipulators; mechatronics; pneumatic actuators; pulse width modulation; Cassino-underactuated-robotic multifinger-hand; anthropomorphic design; mechatronic design; pneumatic actuator force control; pulse- width-modulation; robot grasping; Anthropomorphism; Fingers; Force control; Grasping; Mechatronics; Prototypes; Pulse width modulation; Robots; Testing; Thumb;

fLanguage

English

Publisher

ieee

Conference_Titel

Advanced intelligent mechatronics, 2007 IEEE/ASME international conference on

Conference_Location

Zurich

Print_ISBN

978-1-4244-1263-1

Electronic_ISBN

978-1-4244-1264-8

Type

conf

DOI

10.1109/AIM.2007.4412562

Filename

4412562