Development of multi-fingered dexterous hand for grasping manipulation

被引：15

作者：

Lin GuoDong ^{[1
]}

Li ZhiJun ^{[1
]}

Liu Lan ^{[2
]}

Su Hang ^{[1
]}

Ye WenJun ^{[3
]}

机构：

[1] S China Univ Technol, Coll Automat Sci & Engn, Minist Educ, Key Lab Autonomous Syst & Network Control, Guangzhou 510641, Guangdong, Peoples R China

[2] S China Univ Technol, Sch Mat Sci & Engn, Guangzhou 510641, Guangdong, Peoples R China

[3] Concordia Univ, Dept Mech & Ind Engn, Montreal, PQ, Canada

来源：

SCIENCE CHINA-INFORMATION SCIENCES | 2014年 / 57卷 / 12期

基金：

中国国家自然科学基金;

关键词：

multi-fingered dexterous hand; grasping; tactile sensors; SIMULATION;

D O I：

10.1007/s11432-014-5192-7

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a developed multi-fingered dexterous hand with flexible tactile skin is described. The dexterous hand has 5-fingers with 6-DOFs and each finger is equipped with a small harmonic drive gear and a fine high-power mini actuator. To achieve the goal of grasping with high accuracy, each fingertip is covered with the tactile array sensors for determination of the force between the finger and the grasped object. Some preliminary experiments are conducted to illustrate the performance of the grasping of the developed dexterous hand.

引用

页码：1 / 10

页数：10

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