Title :
Development of dexterous robot hand for delicate object grasping
Author :
Seunghoon Shin ; Dongmin Choi ; Mina Choi ; Hyungpil Moon ; Hyouk Ryeol Choi ; Ja Choon Koo
Author_Institution :
Dept. of Mech. Eng., Sungkyunkwan Univ., Suwon, South Korea
Abstract :
Our goal is to develop the 13 DOF dexterous robot hand. For this, we designed a new robot hand by improving previous developed robot hand and by analysis of human hand. This robot hand is the type of motor driven and includes a fingertip tactile sensor, a joint torque sensor, fingertip 6-axis-force-torque sensor and an embedded board. For performance evaluation of a designed robot hand, we worked analysis of workspace, intersection volume, manipulability, opposition angle and Kapandji Test. Also, we compared our robot hand with Shadow Hand, Gifu Hand III. And we worked a simulation by applying an Impedance Control.
Keywords :
dexterous manipulators; grippers; tactile sensors; torque; dexterous robot hand; embedded board; fingertip tactile sensor; force torque sensor; human hand; impedance control; intersection volume; manipulability; object grasping; Grasping; Humans; Tactile sensors; Thumb; Fingertip F/T Sensor; J/T Sensor; Robot 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.2012.6463040
