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
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;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location :
Incheon
Print_ISBN :
978-1-4577-0722-3
DOI :
10.1109/URAI.2011.6145878
