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
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;
Conference_Titel :
Control, Automation and Systems (ICCAS), 2011 11th International Conference on
Conference_Location :
Gyeonggi-do
Print_ISBN :
978-1-4577-0835-0
