NTU Hand: A New Design of Dexterous Hands-Reference-Cited by-同舟云学术

NTU Hand: A New Design of Dexterous Hands

Published:1998-06-01 Issue:2 Volume:120 Page:282-292
ISSN:1050-0472
Container-title:Journal of Mechanical Design
language:en
Short-container-title:

Author:

Lin Li-Ren¹,Huang Han-Pang¹

Affiliation:

1. Robotics Laboratory, Department of Mechanical Engineering, National Taiwan University, Taipei, TAIWAN 10674, R.O.C

Abstract

A new five-finger robot hand (NTU hand) with seventeen degrees of freedom (DOF) is developed in this paper. In contrast to traditional tendon-driven robots, the NTU hand has an uncoupled configuration that each finger and joint are all individually driven. Since all actuators, mechanical parts and sensors are packed on the hand, the size of NTU hand is almost the same as a human hand. Such compact design makes the hand easily adapt to the industrial robot arm and the prosthetic applications. Based on the mechanical structure of the NTU hand, the direct and inverse kinematics are developed. In addition, computer simulation with three-dimension graphics is built to evaluate the manipulable range of the NTU hand. From the simulation, the relationship between the hand and the grasped object in a specific point of view can be obtained.

Publisher

ASME International

Subject

Computer Graphics and Computer-Aided Design,Computer Science Applications,Mechanical Engineering,Mechanics of Materials

Link

http://asmedigitalcollection.asme.org/mechanicaldesign/article-pdf/120/2/282/5921158/282_1.pdf

Reference12 articles.

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3. Huang, H. P., and Lin, L. R., 1995, “Development of A Prosthetic Hand with Multifingers,” NSC Report, NSC 84-22 12-E002-032.

4. Jacobsen S. C. , WoodJ. E., KnuttiD. F., and BiggersK. B., 1984, “The UTAH/MIT Dextrous Hand: Work in Progress,” International Journal of Robotics Research, Vol. 3, No. 4, pp. 21–50.

5. Lin, L. R., and Huang, H. P., 1994, “Use Hopfield Networks to Find A Grasping Solution for A Dextrous Hand,” IEEE International Symposium on Artificial Neural Networks, pp. 716–721.

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