UBH 3: an anthropomorphic hand with simplified endo-skeletal structure and soft continuous fingerpads

Author

Lotti, F. ; Tiezzi, P. ; Vassura, G. ; Biagiotti, L. ; Melchiorri, Claudio

Author_Institution

DIEM, Bologna Univ., Italy

Volume

5

fYear

2004

fDate

26 April-1 May 2004

Firstpage

4736

Abstract

The paper describes work in progress at the University of Bologna concerning the design of a new anthropomorphic robot hand. The hand is based on the modular assembly of articulated fingers that adopt an original configuration of their structure, made with rigid links connected by elastic hinges that are coaxially crossed by flexible tendons. This innovative design is suitable to host distributed sensory equipment and continuous compliant cover, allowing a high level of anthropomorphism together with great structural simplification, reliability enhancement and cost reduction. Furthermore, the proposed solution is very flexible, as it can be adapted to many different hand configurations and is not dependent on a particular type of actuation, being compatible with future availability of any kind of artificial muscles.

Keywords

artificial organs; dexterous manipulators; elasticity; anthropomorphic robot hand; anthropomorphism; artificial muscles; cost reduction; distributed sensory equipment; elastic hinges; flexible tendons; multifingered robot hand; reliability enhancement; simplified endoskeletal structure; soft continuous fingerpads; structural simplification; Anthropomorphism; Availability; Coaxial components; Costs; Fasteners; Fingers; Muscles; Robot sensing systems; Robotic assembly; Tendons;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on

ISSN

1050-4729

Print_ISBN

0-7803-8232-3

Type

conf

DOI

10.1109/ROBOT.2004.1302466

Filename

1302466