Low-Cost Design and Fabrication of an Anthropomorphic Robotic Hand

被引：1

作者：

Bin Junaid, Ali ^{[1
,2
]}

Tahir, Sanan ^{[3
]}

Rasheed, Tahir ^{[3
]}

Ahmed, Sharjeel ^{[3
]}

Sohail, Mehreen ^{[3
]}

Afzal, Muhammad Raheel ^{[3
]}

Ali, Muzaffar ^{[3
]}

Kim, Yoonsoo ^{[1
,2
]}

机构：

[1] Gyeongsang Natl Univ, Dept Aerosp & Syst Engn, Jinju 660701, South Korea

[2] Gyeongsang Natl Univ, Res Ctr Aircraft Parts Technol, Jinju 660701, South Korea

[3] Univ Air, Dept Mechatron Engn, Islamabad 44230, Pakistan

来源：

JOURNAL OF NANOSCIENCE AND NANOTECHNOLOGY | 2014年 / 14卷 / 10期

基金：

新加坡国家研究基金会;

关键词：

Imitation; Dexterity; Gripping; Bio-Mechatronic; Artificial Hand;

D O I：

10.1166/jnn.2014.9558

中图分类号：

O6 [化学];

学科分类号：

0703 ;

摘要：

Human hand signifies a magnificent and challenging example for scientists and engineers trying to replicate its complex structure and functionality. This paper proposes a bio-mechatronic approach for the design of an anthropomorphic artificial hand capable of performing basic human hand motions with fundamental gripping functionality. The dexterity of the artificial hand is exhibited by imitating the natural motion of the human fingers. Imitation is produced according to the data acquired from the flex sensors attached to the human fingers. In order to have proper gripping, closed-loop control is implemented using the tactile sensors. Feedback for the closed-loop control is provided by force sensing resistors (FSRs), attached on the fingertips of the robotic hand. These sensors also enable handling of fragile objects. The mathematical model is derived using forward kinematics and also simulated on MATLAB (R) to ascertain the position of robotic fingers in 3D space.

引用

页码：7427 / 7431

页数：5