Title :
The SKKU hand: Work in progress
Author :
Dongmin Choi ; Seunghoon Shin ; Ja Choon Koo ; Hyouk Ryeol Choi ; Hyungpil Moon
Author_Institution :
Sungkyunkwan Univ., Suwon, South Korea
Abstract :
This paper presents on-going research of the SKKU Hand. The purpose of the development of SKKU Hand is for delicate dynamic grasp. To design a dexterous robot hand driven by motor, we studied a human hand analysis. And customized fingertip force/torque sensor and joint torque sensors are integrated each finger as well as brushless DC motors and harmonic drivers. The rest of the paper presents a control strategy of SKKU Hand. For robust grasp, we implemented classical impedance control.
Keywords :
brushless DC motors; dexterous manipulators; force sensors; manipulator dynamics; torque control; SKKU hand; brushless DC motor; dexterous robot hand; dynamic grasp; fingertip force sensor; harmonic driver; human hand analysis; impedance control; joint torque sensor; robust grasp; Dynamics; Force; Impedance; Joints; Robot kinematics; Robot sensing systems; Impedance Control; Multifingered Robotic Hand;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2012 9th International Conference on
Conference_Location :
Daejeon
Print_ISBN :
978-1-4673-3111-1
Electronic_ISBN :
978-1-4673-3110-4
DOI :
10.1109/URAI.2012.6463033
