Title :
Design of LARM hand: Problems and solutions
Author :
Carbone, G. ; Ceccarelli, M.
Author_Institution :
Lab. of Robot. & Mechatron., Univ. of Cassino, Cassino
Abstract :
This paper addresses main design issues for developing a low-cost easy-operation robotic hand named as LARM Hand. Design evolution of LARM Hand is reported by describing peculiarities and differences among LARM Hand from version I to version IV. Special attention has been addressed to the design characteristics of a 1 degree-of-freedom (DOF) driving mechanism that can be embedded into the finger body and can actuate the three phalanxes of a human-like robotic finger. Attention has been also focused to selection, location, and use of proper force sensors together with an easy operation force control architecture.
Keywords :
control system synthesis; dexterous manipulators; force control; force sensors; 1 degree-of-freedom driving mechanism; LARM hand design; finger body; force control architecture; force sensors; human-like robotic finger; low-cost easy-operation robotic hand; Fingers; Force control; Force sensors; Grasping; Humans; Laboratories; Mechatronics; Prototypes; Robot sensing systems; Service robots;
Conference_Titel :
Automation, Quality and Testing, Robotics, 2008. AQTR 2008. IEEE International Conference on
Conference_Location :
Cluj-Napoca
Print_ISBN :
978-1-4244-2576-1
Electronic_ISBN :
978-1-4244-2577-8
DOI :
10.1109/AQTR.2008.4588843
