This paper presents a way for research on grasp planning of three fingered robot hands. According to the assortment of human hand grasping, two typical grasping poses for three finger grasps are summarized. The task...This paper presents a way for research on grasp planning of three fingered robot hands. According to the assortment of human hand grasping, two typical grasping poses for three finger grasps are summarized. The task requirements, the geometrical and physical features of the object and the information from the environment are synthesized. Grasp pose is deduced by task analysis, and the graspable plane is sought and determined. The process of grasp planning is finally carried out by determining three grasp points on the feasible grasp plane.展开更多
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
It is important for robotic hands to obtain optimal grasping performance inthe meanwhile balancing external forces and maintaining grasp stability. The problem of forceoptimization of grasping is solved in the space o...It is important for robotic hands to obtain optimal grasping performance inthe meanwhile balancing external forces and maintaining grasp stability. The problem of forceoptimization of grasping is solved in the space of joint torques. A measure of grasping performanceis presented to protect joint actuators from working in heavy payloads. The joint torques arecalculated for the optimal performance under the frictional constraints and the physical limits ofmotor outputs. By formulating the grasping forces into the explicit function of joint torques, thefrictional constraints imposed on the grasping forces are transformed into the constraints on jointtorques. Without further simplification, the nonlinear frictional constraints can be simply handledin the process of optimization. Two numerical examples demonstrate the simplicity and effectivenessof the approach.展开更多
Nowadays many anthropomorphic robotic hands have been put forward. These hands emphasize different aspects according to their applications. HIT Anthropomorphic Robotic Hand (ARhand) is a simple, lightweight and dexter...Nowadays many anthropomorphic robotic hands have been put forward. These hands emphasize different aspects according to their applications. HIT Anthropomorphic Robotic Hand (ARhand) is a simple, lightweight and dexterous design per the requirements of anthropomorphic robots. Underactuated self-adaptive theory is adopted to decrease the number of motors and weight. The fingers of HIT ARhand with multi phalanges have the same size as those of an adult hand. Force control is realized with the position sensor, joint torque sensor and fingertip torque sensor. From the 3D model, the whole hand, with the low power consumption DSP control board integrated in it, will weigh only 500 g. It will be assembled on a BIT-Anthropomorphic Robot.展开更多
Capture is a key component for on?orbit service and space debris clean. The current research of capture on?orbit focuses on using special capture devices or full?actuated space arms to capture cooperative targets. How...Capture is a key component for on?orbit service and space debris clean. The current research of capture on?orbit focuses on using special capture devices or full?actuated space arms to capture cooperative targets. However, the structures of current capture devices are complex, and both space debris and abandoned spacecraft are non?cooperative targets. To capture non?cooperative targets in space, a lightweight, less driven under?actuated robotic hand is proposed in this paper, which composed by tendon?pulley transmission and double?stage mechanisms, and always driven by only one motor in process of closing finger. Because of the expandability, general grasping model is constructed. The equivalent joint driving forces and general grasping force are analyzed based on the model and the principle of virtual work. Which reveal the relationship among tendon driving force, joint driving forces and grasping force. In order to configure the number of knuckles of finger, a new analysis method which takes the maximum grasping space into account, is proposed. Supposing the maximum grasped object is an envelope circle with diameter of 2.5m. In the condition, a finger grasping maximum envelope circle with different knuckles is modeled. And the finger lengths with corresponding knuckles are calculated out. The finger length which consists of three knuckles is the shortest among under?actuated fingers consists of not more than five knuckles. Finally, the principle prototype and prototype robotic hand which consists of two dingers are designed and assembled. Experiments indicate that the under?actuated robotic hand can satisfy the grasp requirements.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
A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level contro...A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level control of a highly integrated robot hand. At flint, a real time controller with DSP&FPGA-based multilevel control architecture is built. Then a current sensor of the single direct current (DC) link is used to measure and reconstruct the three phase currents, and a stable current signal is measured by optimizing sample instant. The experimental results of the joint impedance control show that the proposed method not only improves the effectiveness of contact environment performance, but also provides compliant interaction of robot hand with a person, which is very important for the development of friendly human robot of the next generation.展开更多
This paper proposes an incipient slip detection method for a robotic hand based on the vibration power of the pressure center. Firstly,an array-type pressure sensor was planted into the soft skin of the robotic hand t...This paper proposes an incipient slip detection method for a robotic hand based on the vibration power of the pressure center. Firstly,an array-type pressure sensor was planted into the soft skin of the robotic hand to measure the stick-slip vibration component of the pressure center generated in the process of slip of the grasped object. Secondly,the vibration power of the pressure center was calculated based on the measured stick-slip vibration component,and was used as a slip-detection function to judge the incipient slip of the grasped object. Finally,in order to use the same threshold value to judge incipient slip for different grasping forces,a weight coefficient was experimentally identified and used in the slip-detection function. The effectiveness of the proposed slip detection method was verified by experimental results,which showed that incipient slip can be detected by the proposed slip-detection function with the same threshold value for various materials,different slipping speeds grasping forces. In addition,multiple iterations of the experiment had demonstrated that the slip detection is repeatable.展开更多
A model-free set-point tracking control approach of multi-fingered robot hand is presented.The set-point tracking controller,which has the structural form of PD controller,is composed with a combination of feedforward...A model-free set-point tracking control approach of multi-fingered robot hand is presented.The set-point tracking controller,which has the structural form of PD controller,is composed with a combination of feedforward term,feedback term and saturation control term.The controller does not require the explicit use of dynamic modeling parameters.Experiments performed on the HIT/DLR hand demonstrate the effectiveness of the proposed approach in performance improvement and real-time application.展开更多
The dynamics properties of a kind of multi-fingered robot hand is analyzed. It is pointed out that the dynamics property of this kind of multifingered robot hand in the approaching process is quite different from that...The dynamics properties of a kind of multi-fingered robot hand is analyzed. It is pointed out that the dynamics property of this kind of multifingered robot hand in the approaching process is quite different from that in the grasping process and,different control algorithm should be taken in the two process. A position-force hybrid control algorithm is proposed which is applied to the control system of the University of Science and Technology Beijing double-thumb robot hand successfully.展开更多
With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size ...With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.展开更多
In the development of robotic limbs, the side of members is of importance to define the shape of artificial limbs and the range of movements. It is mainly significant tbr biomedical applications concerning patients su...In the development of robotic limbs, the side of members is of importance to define the shape of artificial limbs and the range of movements. It is mainly significant tbr biomedical applications concerning patients suffering arms or legs injuries, fn this paper, the concept of an ambidextrous design lbr robot hands is introduced. The fingers can curl in one xvay or another, to imitate either a right hand or a left hand. The advantages and inconveniences of different models have been investigated to optimise the range and the maximum force applied by fingers. Besides, a remote control interthce is integrated to the system, allowing both to send comrnands through internet and to display a video streaming of the ambidextrous hand as feedback. Therefore, a robotic prosthesis could be used for the first time in telerehabilitation. The main application areas targeted are physiotherapy alter strokes or management of phantom pains/br amputees by/earning to control the ambidextrous hand. A client application is also accessible on Facehook social network, making the robotic limb easily reachable for the patients. Additionally the ambidextrous hand can be used tbr robotics research as well as artistic performances.展开更多
Presents major achievements in researches on coordinated control with multifingered robot hands by first briefing the present status of researches on multifingered robot hands, then discussing the coordinated control ...Presents major achievements in researches on coordinated control with multifingered robot hands by first briefing the present status of researches on multifingered robot hands, then discussing the coordinated control with multifingered robot hands, and finally exploring the way of achieving autonomous grasp, and thoughts on future researches.展开更多
Gives an overview of the present status of researches on grasp stability of multi fingered dexterous robot hands,presents the imaginary displacement method for evaluating the grasp stability, which is easy to realize...Gives an overview of the present status of researches on grasp stability of multi fingered dexterous robot hands,presents the imaginary displacement method for evaluating the grasp stability, which is easy to realize on computer,and has no limit on contact points for each finger. Analyses for grasping stability with single contact point of typical objects with different curvature proved the effectiveness of the method proposed and optimal grasp examples are given as well.展开更多
Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which res...Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot′s hand and does not change the number of the path′s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots.展开更多
This research characterizes grasping by multifingered robot hands through investiga- tion of the space of contact forces into four subspaces , a method is developed to determine the di- mensions of the subspaces with ...This research characterizes grasping by multifingered robot hands through investiga- tion of the space of contact forces into four subspaces , a method is developed to determine the di- mensions of the subspaces with respect to the connectivity of the object. The relationship reveals the differences between three types of grasps classified and indicates how the contact force can be decomposed corresponding to each type of grasp. The subspaces and the determination of their di- mensions are illlustrated by examples.展开更多
Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the segments of the path. But, this method res...Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the segments of the path. But, this method resulted in the heavier on line computational burden for the robot controller. In this paper, aiming at this drawback, the authors propose a new kind of real time accurate hand path tracking and joint trajectory planning method for robots. Through selecting some extra knots on the specified hand path by a certain rule, which enables the number of knots on each segment to increase from two to four, and through introducing a sinusoidal function and a cosinoidal function to the joint displacement equation of each segment, this method can raise the path tracking accuracy of robot′s hand greatly but does not increase the computational burden of robot controller markedly.展开更多
文摘This paper presents a way for research on grasp planning of three fingered robot hands. According to the assortment of human hand grasping, two typical grasping poses for three finger grasps are summarized. The task requirements, the geometrical and physical features of the object and the information from the environment are synthesized. Grasp pose is deduced by task analysis, and the graspable plane is sought and determined. The process of grasp planning is finally carried out by determining three grasp points on the feasible grasp plane.
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.
基金This project is supported by National Natural Science Foundation of China (No.59985001)Doctoral Grant of Education Ministry of China (No.2000000605)
文摘It is important for robotic hands to obtain optimal grasping performance inthe meanwhile balancing external forces and maintaining grasp stability. The problem of forceoptimization of grasping is solved in the space of joint torques. A measure of grasping performanceis presented to protect joint actuators from working in heavy payloads. The joint torques arecalculated for the optimal performance under the frictional constraints and the physical limits ofmotor outputs. By formulating the grasping forces into the explicit function of joint torques, thefrictional constraints imposed on the grasping forces are transformed into the constraints on jointtorques. Without further simplification, the nonlinear frictional constraints can be simply handledin the process of optimization. Two numerical examples demonstrate the simplicity and effectivenessof the approach.
文摘Nowadays many anthropomorphic robotic hands have been put forward. These hands emphasize different aspects according to their applications. HIT Anthropomorphic Robotic Hand (ARhand) is a simple, lightweight and dexterous design per the requirements of anthropomorphic robots. Underactuated self-adaptive theory is adopted to decrease the number of motors and weight. The fingers of HIT ARhand with multi phalanges have the same size as those of an adult hand. Force control is realized with the position sensor, joint torque sensor and fingertip torque sensor. From the 3D model, the whole hand, with the low power consumption DSP control board integrated in it, will weigh only 500 g. It will be assembled on a BIT-Anthropomorphic Robot.
基金Supported by Joint Funds of National Natural Science Foundation of China(Grant No.U1613201)Shenzhen Research Funds(JCYJ20170413104438332)
文摘Capture is a key component for on?orbit service and space debris clean. The current research of capture on?orbit focuses on using special capture devices or full?actuated space arms to capture cooperative targets. However, the structures of current capture devices are complex, and both space debris and abandoned spacecraft are non?cooperative targets. To capture non?cooperative targets in space, a lightweight, less driven under?actuated robotic hand is proposed in this paper, which composed by tendon?pulley transmission and double?stage mechanisms, and always driven by only one motor in process of closing finger. Because of the expandability, general grasping model is constructed. The equivalent joint driving forces and general grasping force are analyzed based on the model and the principle of virtual work. Which reveal the relationship among tendon driving force, joint driving forces and grasping force. In order to configure the number of knuckles of finger, a new analysis method which takes the maximum grasping space into account, is proposed. Supposing the maximum grasped object is an envelope circle with diameter of 2.5m. In the condition, a finger grasping maximum envelope circle with different knuckles is modeled. And the finger lengths with corresponding knuckles are calculated out. The finger length which consists of three knuckles is the shortest among under?actuated fingers consists of not more than five knuckles. Finally, the principle prototype and prototype robotic hand which consists of two dingers are designed and assembled. Experiments indicate that the under?actuated robotic hand can satisfy the grasp requirements.
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A novel control system is developed to improve the capabilities of robet hand performing tasks in a variety of environments. A joint impedance control strategy has been successfully implemented in the low level control of a highly integrated robot hand. At flint, a real time controller with DSP&FPGA-based multilevel control architecture is built. Then a current sensor of the single direct current (DC) link is used to measure and reconstruct the three phase currents, and a stable current signal is measured by optimizing sample instant. The experimental results of the joint impedance control show that the proposed method not only improves the effectiveness of contact environment performance, but also provides compliant interaction of robot hand with a person, which is very important for the development of friendly human robot of the next generation.
文摘This paper proposes an incipient slip detection method for a robotic hand based on the vibration power of the pressure center. Firstly,an array-type pressure sensor was planted into the soft skin of the robotic hand to measure the stick-slip vibration component of the pressure center generated in the process of slip of the grasped object. Secondly,the vibration power of the pressure center was calculated based on the measured stick-slip vibration component,and was used as a slip-detection function to judge the incipient slip of the grasped object. Finally,in order to use the same threshold value to judge incipient slip for different grasping forces,a weight coefficient was experimentally identified and used in the slip-detection function. The effectiveness of the proposed slip detection method was verified by experimental results,which showed that incipient slip can be detected by the proposed slip-detection function with the same threshold value for various materials,different slipping speeds grasping forces. In addition,multiple iterations of the experiment had demonstrated that the slip detection is repeatable.
基金Sponsored by the Program for New Century Excellent Talents in University (Grant No:NCET-09-0056)the National High Technology Research and Development Program of China (Grant No.2009AA043803)
文摘A model-free set-point tracking control approach of multi-fingered robot hand is presented.The set-point tracking controller,which has the structural form of PD controller,is composed with a combination of feedforward term,feedback term and saturation control term.The controller does not require the explicit use of dynamic modeling parameters.Experiments performed on the HIT/DLR hand demonstrate the effectiveness of the proposed approach in performance improvement and real-time application.
文摘The dynamics properties of a kind of multi-fingered robot hand is analyzed. It is pointed out that the dynamics property of this kind of multifingered robot hand in the approaching process is quite different from that in the grasping process and,different control algorithm should be taken in the two process. A position-force hybrid control algorithm is proposed which is applied to the control system of the University of Science and Technology Beijing double-thumb robot hand successfully.
基金Sponsored by the High Technology Research and Development Program of China(Grant No.2008AA04Z203)Development Program for Outstanding Young Teachers in Harbin Institute of Technology(Grant No.HITQNJS.2008.010)
文摘With the idea of mechatronic integration,a novel finger of the dextrous robot hand has been designed. The finger with nice envelop has four joints with three DOFs driven by three brushless DC motors with smaller size and more torque. The use of rigid gear head,bevel gears and linkage in the transmission system makes the finger more rigid. Abundant sensors such as joint angle sensors,joint torque sensors and temperature sensors are located in the finger. Integration and modularization are achieved at most by high integration of finger body,driving system,sensors and electronics.
文摘In the development of robotic limbs, the side of members is of importance to define the shape of artificial limbs and the range of movements. It is mainly significant tbr biomedical applications concerning patients suffering arms or legs injuries, fn this paper, the concept of an ambidextrous design lbr robot hands is introduced. The fingers can curl in one xvay or another, to imitate either a right hand or a left hand. The advantages and inconveniences of different models have been investigated to optimise the range and the maximum force applied by fingers. Besides, a remote control interthce is integrated to the system, allowing both to send comrnands through internet and to display a video streaming of the ambidextrous hand as feedback. Therefore, a robotic prosthesis could be used for the first time in telerehabilitation. The main application areas targeted are physiotherapy alter strokes or management of phantom pains/br amputees by/earning to control the ambidextrous hand. A client application is also accessible on Facehook social network, making the robotic limb easily reachable for the patients. Additionally the ambidextrous hand can be used tbr robotics research as well as artistic performances.
文摘Presents major achievements in researches on coordinated control with multifingered robot hands by first briefing the present status of researches on multifingered robot hands, then discussing the coordinated control with multifingered robot hands, and finally exploring the way of achieving autonomous grasp, and thoughts on future researches.
文摘Gives an overview of the present status of researches on grasp stability of multi fingered dexterous robot hands,presents the imaginary displacement method for evaluating the grasp stability, which is easy to realize on computer,and has no limit on contact points for each finger. Analyses for grasping stability with single contact point of typical objects with different curvature proved the effectiveness of the method proposed and optimal grasp examples are given as well.
基金Foundation of the Robotics Laboratory, Chinese Academy of Sciences (No: RL200002)
文摘Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Car-tesian space mainly through increasing the number of knots on the path and the number of the path′s segments, which results in the heavier online computational burden for the robot controller. Aiming at overcoming this drawback, the authors propose a new kind of real-time accurate hand path tracking and joint trajectory planning method. Through selecting some extra knots on the specified hand path by a certain rule and introducing a sinusoidal function to the joint displacement equation of each segment, this method can greatly raise the path tracking accuracy of robot′s hand and does not change the number of the path′s segments. It also does not increase markedly the computational burden of robot controller. The result of simulation indicates that this method is very effective, and has important value in increasing the application of industrial robots.
文摘This research characterizes grasping by multifingered robot hands through investiga- tion of the space of contact forces into four subspaces , a method is developed to determine the di- mensions of the subspaces with respect to the connectivity of the object. The relationship reveals the differences between three types of grasps classified and indicates how the contact force can be decomposed corresponding to each type of grasp. The subspaces and the determination of their di- mensions are illlustrated by examples.
基金FoundationoftheRoboticsLaboratoryChineseAcademyofSciences (No :RL2 0 0 0 0 2 )
文摘Previously, researchers raised the accuracy for a robot′s hand to track a specified path in Cartesian space mainly through increasing the number of knots on the path and the segments of the path. But, this method resulted in the heavier on line computational burden for the robot controller. In this paper, aiming at this drawback, the authors propose a new kind of real time accurate hand path tracking and joint trajectory planning method for robots. Through selecting some extra knots on the specified hand path by a certain rule, which enables the number of knots on each segment to increase from two to four, and through introducing a sinusoidal function and a cosinoidal function to the joint displacement equation of each segment, this method can raise the path tracking accuracy of robot′s hand greatly but does not increase the computational burden of robot controller markedly.