Nature grasping by a cable-driven under-actuated anthropomorphic robotic hand

Human hand is the best sample for humanoid robotic hand and a nature grasping is the final target that most robotic hands are pursuing. Many prior researches had been done in virtual and real for simulation the human grasping. Unfortunately, there is no perfect solution to duplicate the nature grasping of human. The main difficulty comes from three points. 1. How to 3D modelling and fabricate the real hand. 2. How actuated the robotic hand as real hand. 3. How to grasp objects in different shapes like human hand. To deal with these three problems and further to provide a partial solution for duplicate human grasping, this paper introduces our method to solve these problems from robotic hand design, fabrication, actuation and grasping plan. Our modelling progress takes only around 12 minutes that include 10 minutes of 3D scanning of a real human hand and two minutes for changing the scanned model to an articulated model by running our algorithm. Our grasping plan is based on the sampled trajectory and easy to implement for grasping different objects. Followed these steps, a seven DOF robotic hand is created and tested in the experiments

Sensory Communication

Contains table of contents for Section 2, an introduction and reports on twelve research projects.National Institutes of Health Grant 5 R01 DC00117National Institutes of Health Contract 2 P01 DC00361National Institutes of Health Grant 5 R01 DC00126National Institutes of Health Grant R01-DC00270U.S. Air Force - Office of Scientific Research Contract AFOSR-90-0200National Institutes of Health Grant R29-DC00625U.S. Navy - Office of Naval Research Grant N00014-88-K-0604U.S. Navy - Office of Naval Research Grant N00014-91-J-1454U.S. Navy - Office of Naval Research Grant N00014-92-J-1814U.S. Navy - Naval Training Systems Center Contract N61339-93-M-1213U.S. Navy - Naval Training Systems Center Contract N61339-93-C-0055U.S. Navy - Naval Training Systems Center Contract N61339-93-C-0083U.S. Navy - Office of Naval Research Grant N00014-92-J-4005U.S. Navy - Office of Naval Research Grant N00014-93-1-119