In the robotic community more and more hands are developed. Based on theexperience of HIT Hand and DLR Hand II, a smaller and easier manufactured dexterous robot hand withmultisen-sory function and high integration is...In the robotic community more and more hands are developed. Based on theexperience of HIT Hand and DLR Hand II, a smaller and easier manufactured dexterous robot hand withmultisen-sory function and high integration is jointly developed. The prototype of the hand issuccessfully built. It has 4 fingers in total 13-DOFs (degree of freedom). Each finger has 3-DOFsand 4 joints, the last 2 joints are mechanically coupled by means of four-bar linkage mechanism. Italso has an additional DOF to realize motion of the thumb relative to the palm. The fingertip forcecan reach up to 10 N. Full integration of mechanical body, actuation system, multisensory system andelectronics is a significant feature. DSP based control system is implemented in PCI busarchitecture and the serial communication between the hand and DSP needs only 2 lines.展开更多
Presents a novel compliant motion control for a robot hand using the Cartesian impedance approach based on fingertip force measurements. The fingertip can accurately track desired motion in free space and appear as me...Presents a novel compliant motion control for a robot hand using the Cartesian impedance approach based on fingertip force measurements. The fingertip can accurately track desired motion in free space and appear as mechanical impedance in constrained space. In the position based impedance control strategy, any switching mode in contact transition phase is not needed. The impedance parameters can be adjusted in a certain range according to various tasks. In this paper, the analysis of the finger’s kinematics and dynamics is given. Experimental results have shown the effectiveness of this control strategy.展开更多
This paper presents a novel remote controlled dexterous robot arm with 6 degrees of freedom （DOF）. As a highly integrated mechatronics system, sensors and their signal processing system are integrated inside each jo...This paper presents a novel remote controlled dexterous robot arm with 6 degrees of freedom （DOF）. As a highly integrated mechatronics system, sensors and their signal processing system are integrated inside each joint. To lighten the weight, almost all mechanical parts are made of aluminum and the robot control system is placed outside. The modular concept is adopted during the robot design process for time and cost saving. Considering the much greater torque acted on the two shoulder joints, the joint shells are strengthened in the design to increase joint stiffness and suppress system vibration. Meanwhile, to simplify the maintenance, a new spring pins electronic connector is designed to disassemble every joint, connector and link independently without cutting any cables. The teleoperation technology enables the robot to offer more convenient service definitely for people＇ s daily life. Virtual reality technology is used to solve the time delay problem during teleoperation. Finally, two typical daily chore experiments are implemented to prove the manipulation ability of the dexterous robot arm.展开更多
Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless...Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.展开更多
Humanoid robots are designed and built to mimic human form and movement. Ultimately, they are meant to resemble the size and physical abilities of a human in order to function in human-oriented environments and to wor...Humanoid robots are designed and built to mimic human form and movement. Ultimately, they are meant to resemble the size and physical abilities of a human in order to function in human-oriented environments and to work autonomously but to pose no physical threat to humans. Here, a humanoid robot that resembles a human in appearance and movement is built using powerful actuators paired with gear trains, joint mechanisms, and motor drivers that are all encased in a package no larger than that of the human physique. In this paper, we propose the construction of a humanoid-applicable anthropomorphic 7-DoF arm complete with an 8-DoF hand. The novel mechanical design of this humanoid ann makes it sufficiently compact to be compatible with currently available narrating-model humanoids, and to be sufficiently powerful and flexible to be functional; the number of degrees of freedom endowed in this robotic arm is sufficient for executing a wide range of tasks, including dexterous hand movements. The developed humanoid arm and hand are capable of sensing and interpreting incoming external force using the motor in each joint current without conventional torque sensors. The humanoid ann adopts an algorithm to avoid obstacles and the dexterous hand is capable of grasping objects. The developed robotic ann is suitable for use in an interactive humanoid robot.展开更多
At present,albeit the dexterous hand prostheses of multiple degrees of freedom(DOFs)have become prosperous on the market,the user’s demand on intuitively operating these devices have not been well addressed so that t...At present,albeit the dexterous hand prostheses of multiple degrees of freedom(DOFs)have become prosperous on the market,the user’s demand on intuitively operating these devices have not been well addressed so that their acceptance rate is relatively low.The unintuitive control method and inadequate sensory feedback are frequently cited as the two barriers to the successful application of these dexterous products.Recently,driven by the wave of artificial intelligence(AI),a series of shared control methods have emerged,in which"bodily function"(myoelectric control)and"artificial intelligence"(local autonomy,computer vision,etc.)are tightly integrated,and provided a new conceptual solution for the intuitive operation of dexterous prostheses.In this paper,the background and development trends of this type of methods are described in detail,and the potential development directions and the key technologies that need breakthroughs are indicated.In practice,we instantiate this shared control strategy by proposing a new method combining simultaneous myoelectric control,multi-finger grasp autonomy,and augmented reality(AR)feedback together.This method"divides"the human sophisticated reach-and-grasp task into several subtasks,and then"conquers"them by using different strategies from either human or machine perspective.It is highly expected that the shared control methods with hybrid human-machine intelligence could address the control problem of dexterous prostheses.展开更多
文摘In the robotic community more and more hands are developed. Based on theexperience of HIT Hand and DLR Hand II, a smaller and easier manufactured dexterous robot hand withmultisen-sory function and high integration is jointly developed. The prototype of the hand issuccessfully built. It has 4 fingers in total 13-DOFs (degree of freedom). Each finger has 3-DOFsand 4 joints, the last 2 joints are mechanically coupled by means of four-bar linkage mechanism. Italso has an additional DOF to realize motion of the thumb relative to the palm. The fingertip forcecan reach up to 10 N. Full integration of mechanical body, actuation system, multisensory system andelectronics is a significant feature. DSP based control system is implemented in PCI busarchitecture and the serial communication between the hand and DSP needs only 2 lines.
文摘Presents a novel compliant motion control for a robot hand using the Cartesian impedance approach based on fingertip force measurements. The fingertip can accurately track desired motion in free space and appear as mechanical impedance in constrained space. In the position based impedance control strategy, any switching mode in contact transition phase is not needed. The impedance parameters can be adjusted in a certain range according to various tasks. In this paper, the analysis of the finger’s kinematics and dynamics is given. Experimental results have shown the effectiveness of this control strategy.
文摘This paper presents a novel remote controlled dexterous robot arm with 6 degrees of freedom （DOF）. As a highly integrated mechatronics system, sensors and their signal processing system are integrated inside each joint. To lighten the weight, almost all mechanical parts are made of aluminum and the robot control system is placed outside. The modular concept is adopted during the robot design process for time and cost saving. Considering the much greater torque acted on the two shoulder joints, the joint shells are strengthened in the design to increase joint stiffness and suppress system vibration. Meanwhile, to simplify the maintenance, a new spring pins electronic connector is designed to disassemble every joint, connector and link independently without cutting any cables. The teleoperation technology enables the robot to offer more convenient service definitely for people＇ s daily life. Virtual reality technology is used to solve the time delay problem during teleoperation. Finally, two typical daily chore experiments are implemented to prove the manipulation ability of the dexterous robot arm.
基金Project(2009AA04Z209) supported by the National High Technology Research and Development Program of ChinaProject(R1090674) supported by the Natural Science Foundation of Zhejiang Province,ChinaProject(51075363) supported by the National Natural Science Foundation of China
文摘Based on flexible pneumatic actuator(FPA),bending joint and side-sway joint,a new kind of pneumatic dexterous robot finger was developed.The finger is equipped with one five-component force sensor and four contactless magnetic rotary encoders.Mechanical parts and FPAs are integrated,which reduces the overall size of the finger.Driven by FPA directly,the joint output torque is more accurate and the friction and vibration can be effectively reduced.An improved adaptive genetic algorithm(IAGA) was adopted to solve the inverse kinematics problem of the redundant finger.The statics of the finger was analyzed and the relation between fingertip force and joint torque was built.Finally,the finger force/position control principle was introduced.Tracking experiments of fingertip force/position were carried out.The experimental results show that the fingertip position tracking error is within ±1 mm and the fingertip force tracking error is within ±0.4 N.It is also concluded from the theoretical and experimental results that the finger can be controlled and it has a good application prospect.
文摘Humanoid robots are designed and built to mimic human form and movement. Ultimately, they are meant to resemble the size and physical abilities of a human in order to function in human-oriented environments and to work autonomously but to pose no physical threat to humans. Here, a humanoid robot that resembles a human in appearance and movement is built using powerful actuators paired with gear trains, joint mechanisms, and motor drivers that are all encased in a package no larger than that of the human physique. In this paper, we propose the construction of a humanoid-applicable anthropomorphic 7-DoF arm complete with an 8-DoF hand. The novel mechanical design of this humanoid ann makes it sufficiently compact to be compatible with currently available narrating-model humanoids, and to be sufficiently powerful and flexible to be functional; the number of degrees of freedom endowed in this robotic arm is sufficient for executing a wide range of tasks, including dexterous hand movements. The developed humanoid arm and hand are capable of sensing and interpreting incoming external force using the motor in each joint current without conventional torque sensors. The humanoid ann adopts an algorithm to avoid obstacles and the dexterous hand is capable of grasping objects. The developed robotic ann is suitable for use in an interactive humanoid robot.
基金supported by the National Key R&D Program of China(Grant No.2018YFB1307201)the National Natural Science Foundation of China(Grant No.51675123)the Postdoctoral Scientific Research Development Fund(Grant No.LBH-W18058)。
文摘At present,albeit the dexterous hand prostheses of multiple degrees of freedom(DOFs)have become prosperous on the market,the user’s demand on intuitively operating these devices have not been well addressed so that their acceptance rate is relatively low.The unintuitive control method and inadequate sensory feedback are frequently cited as the two barriers to the successful application of these dexterous products.Recently,driven by the wave of artificial intelligence(AI),a series of shared control methods have emerged,in which"bodily function"(myoelectric control)and"artificial intelligence"(local autonomy,computer vision,etc.)are tightly integrated,and provided a new conceptual solution for the intuitive operation of dexterous prostheses.In this paper,the background and development trends of this type of methods are described in detail,and the potential development directions and the key technologies that need breakthroughs are indicated.In practice,we instantiate this shared control strategy by proposing a new method combining simultaneous myoelectric control,multi-finger grasp autonomy,and augmented reality(AR)feedback together.This method"divides"the human sophisticated reach-and-grasp task into several subtasks,and then"conquers"them by using different strategies from either human or machine perspective.It is highly expected that the shared control methods with hybrid human-machine intelligence could address the control problem of dexterous prostheses.
