What question did this study set out to answer?

To design and validate a human-sized, tendon-driven robotic hand capable of fine in-hand manipulation by eliminating non-linearities and dry friction present in earlier prototypes.

May 8, 2018Robotica

Focus on the mechatronics design of a new dexterous robotic hand for inside hand manipulation

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To design and validate a human-sized, tendon-driven robotic hand capable of fine in-hand manipulation by eliminating non-linearities and dry friction present in earlier prototypes.
Redesigned the tendon routing architecture from the prior LMS hand to establish purely linear coupling relations between actuators and joints across four identical serial robotic fingers.
Implemented industrial-grade cascaded feedback loops facilitated by transparent motor-joint transmissions.
Conducted comparative mechanical testing against the previous LMS prototype and performed a continuous three-day operational demonstration manipulating bottle caps at an industrial exhibition.
The revised tendon routing eliminated dry friction and backlash, establishing purely linear transmission dynamics between joints and actuators.
Mechanical transparency allowed significant simplification of control software, enabling successful and continuous execution of inside-hand bottle cap manipulation.

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Implication

Experimental study reveals enhanced in-hand manipulation using a novel tendon-driven robotic hand with linear actuator coupling, indicating simplified control architectures for dexterous robotics.

Cite This Study

Vulliez et al. (2018) studied this question.

synapsesocial.com/papers/6a8bfe223fd21775a533cc82 https://doi.org/10.1017/s0263574718000346

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Implication

Experimental study reveals enhanced in-hand manipulation using a novel tendon-driven robotic hand with linear actuator coupling, indicating simplified control architectures for dexterous robotics.

Focus on the mechatronics design of a new dexterous robotic hand for inside hand manipulation

Key Points

Discussion

Implication

Cite This Study

Focus on the mechatronics design of a new dexterous robotic hand for inside hand manipulation

Key Points

Discussion

Implication

Cite This Study

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