DocumentCode
3242164
Title
A design framework for dexterous robotic hand
Author
Shin, Seunghoon ; Han, Sangchul ; Lee, Kunwook ; Moon, Hyungpil ; Choi, Hyouk Ryeol ; Koo, Ja Choon
Author_Institution
Dept. of Mech. Eng., Sungkyunkwan Univ., Suwon, South Korea
fYear
2011
fDate
23-26 Nov. 2011
Firstpage
539
Lastpage
541
Abstract
Our goal is to design a dexterous robot hand driven by motor. For this, we studied a human hand analysis and constructed a DH model. We verified it by using Visual tracker. Also, we calculated workspace, manipulability, Opposition Angle of a human hand DH model and made the Kapandji test. By using this human hand analysis data, we designed new robot hand and analyzed the newly designed robot hand. Also we compared with analysis data of other robot hands.
Keywords
dexterous manipulators; electric motors; object tracking; robot vision; Kapandji test; dexterous robot hand design; human hand DH model; human hand analysis; visual tracker; DH-HEMTs; Humans; Robot sensing systems; Service robots; Thumb; Human Hand; Manipulability; Opposition; Robot Hand; Workspace;
fLanguage
English
Publisher
ieee
Conference_Titel
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location
Incheon
Print_ISBN
978-1-4577-0722-3
Type
conf
DOI
10.1109/URAI.2011.6145878
Filename
6145878
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