Abstract
Abstract. The concept called gesture-changeable under-actuated (GCUA) function is utilized to improve the dexterities of traditional under-actuated hands and reduce the control difficulties of dexterous hands. Based on GCUA function, a novel mechanical finger by multiple tendons: GCUA-T finger, is designed. The finger uses tendon mechanisms to achieve GCUA function which includes traditional underactuated (UA) grasping motion and special pre-bending (PB, or pre-shaping) motion before UA grasping. Operation principles and force analyses of the fingers are given, and the effect of GCUA function on the movements of a hand is discussed. The finger can satisfy the requirements of grasping and operating with low dependence on control system and low cost on manufacturing expenses, which develops a new way between dexterous hand and traditional under-actuated hand. This paper was presented at the IFToMM/ASME International Workshop on Underactuated Grasping (UG2010), 19 August 2010, Montréal, Canada.
Subject
Industrial and Manufacturing Engineering,Fluid Flow and Transfer Processes,Mechanical Engineering,Mechanics of Materials,Civil and Structural Engineering,Control and Systems Engineering
Reference13 articles.
1. Birglen, L. and Gosselin, C. M.: On the Force Capability of Underactuated Fingers, Proceedings of the 2003 IEEE International Conference on Robotics and Automation, Taipei, Taiwan, September, 1139–1145, 2003.
2. Birglen, L. and Gosselin, C. M.: Kinetostatic Analysis of Underactuated Fingers, IEEE T. Robotic. Autom., 20(2), 211–221, 2004.
3. Birglen, L. and Gosselin, C. M.: Fuzzy Enhanced Control of an Underactuated Finger Using Tactile and Position Sensors, Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, April, 2320–2325, 2005.
4. Dollar, A. M. and Howe, R. D.: Designing Robust Robotic Graspers for Unstructured Environments, Proceedings of the Robotics: Science and Systems Conference, Workshop on Manipulation for Human Environments, Philadelphia, PA, August 2006.
5. Dollar, A. M. and Howe, R. D.: The SDM Hand as a Prosthetic Terminal Device: a Feasibility Study, Proceedings of the 2007 IEEE 10th International Conference on Rehabilitation Robotics, Noordwijk, The Netherlands, June, 978–983, 2007.
Cited by
4 articles.
订阅此论文施引文献
订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献