Development of dexterous robot hand for delicate object grasping

Author

Seunghoon Shin ; Dongmin Choi ; Mina Choi ; Hyungpil Moon ; Hyouk Ryeol Choi ; Ja Choon Koo

Author_Institution

Dept. of Mech. Eng., Sungkyunkwan Univ., Suwon, South Korea

fYear

2012

fDate

26-28 Nov. 2012

Firstpage

462

Lastpage

463

Abstract

Our goal is to develop the 13 DOF dexterous robot hand. For this, we designed a new robot hand by improving previous developed robot hand and by analysis of human hand. This robot hand is the type of motor driven and includes a fingertip tactile sensor, a joint torque sensor, fingertip 6-axis-force-torque sensor and an embedded board. For performance evaluation of a designed robot hand, we worked analysis of workspace, intersection volume, manipulability, opposition angle and Kapandji Test. Also, we compared our robot hand with Shadow Hand, Gifu Hand III. And we worked a simulation by applying an Impedance Control.

Keywords

dexterous manipulators; grippers; tactile sensors; torque; dexterous robot hand; embedded board; fingertip tactile sensor; force torque sensor; human hand; impedance control; intersection volume; manipulability; object grasping; Grasping; Humans; Tactile sensors; Thumb; Fingertip F/T Sensor; J/T Sensor; Robot hand;

fLanguage

English

Publisher

ieee

Conference_Titel

Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on

Conference_Location

Daejeon

Print_ISBN

978-1-4673-3111-1

Electronic_ISBN

978-1-4673-3110-4

Type

conf

DOI

10.1109/URAI.2012.6463040

Filename

6463040