3,627 research outputs found
On Neuromechanical Approaches for the Study of Biological Grasp and Manipulation
Biological and robotic grasp and manipulation are undeniably similar at the
level of mechanical task performance. However, their underlying fundamental
biological vs. engineering mechanisms are, by definition, dramatically
different and can even be antithetical. Even our approach to each is
diametrically opposite: inductive science for the study of biological systems
vs. engineering synthesis for the design and construction of robotic systems.
The past 20 years have seen several conceptual advances in both fields and the
quest to unify them. Chief among them is the reluctant recognition that their
underlying fundamental mechanisms may actually share limited common ground,
while exhibiting many fundamental differences. This recognition is particularly
liberating because it allows us to resolve and move beyond multiple paradoxes
and contradictions that arose from the initial reasonable assumption of a large
common ground. Here, we begin by introducing the perspective of neuromechanics,
which emphasizes that real-world behavior emerges from the intimate
interactions among the physical structure of the system, the mechanical
requirements of a task, the feasible neural control actions to produce it, and
the ability of the neuromuscular system to adapt through interactions with the
environment. This allows us to articulate a succinct overview of a few salient
conceptual paradoxes and contradictions regarding under-determined vs.
over-determined mechanics, under- vs. over-actuated control, prescribed vs.
emergent function, learning vs. implementation vs. adaptation, prescriptive vs.
descriptive synergies, and optimal vs. habitual performance. We conclude by
presenting open questions and suggesting directions for future research. We
hope this frank assessment of the state-of-the-art will encourage and guide
these communities to continue to interact and make progress in these important
areas
Design method for an anthropomorphic hand able to gesture and grasp
This paper presents a numerical method to conceive and design the kinematic
model of an anthropomorphic robotic hand used for gesturing and grasping. In
literature, there are few numerical methods for the finger placement of
human-inspired robotic hands. In particular, there are no numerical methods,
for the thumb placement, that aim to improve the hand dexterity and grasping
capabilities by keeping the hand design close to the human one. While existing
models are usually the result of successive parameter adjustments, the proposed
method determines the fingers placements by mean of empirical tests. Moreover,
a surgery test and the workspace analysis of the whole hand are used to find
the best thumb position and orientation according to the hand kinematics and
structure. The result is validated through simulation where it is checked that
the hand looks well balanced and that it meets our constraints and needs. The
presented method provides a numerical tool which allows the easy computation of
finger and thumb geometries and base placements for a human-like dexterous
robotic hand.Comment: IEEE International Conference on Robotics and Automation, May 2015,
Seattle, United States. IEEE, 2015, Proceeding IEEE International Conference
on Robotics and Automatio
The KIT swiss knife gripper for disassembly tasks: a multi-functional gripper for bimanual manipulation with a single arm
© 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.This work presents the concept of a robotic gripper designed for the disassembly of electromechanical devices that comprises several innovative ideas. Novel concepts include the ability to interchange built-in tools without the need to grasp them, the ability to reposition grasped objects in-hand, the capability of performing classic dual arm manipulation within the gripper and the utilization of classic industrial robotic arms kinematics within a robotic gripper. We analyze state of the art grippers and robotic hands designed for dexterous in-hand manipulation and extract common characteristics and weak points. The presented concept is obtained from the task requirements for disassembly of electromechanical devices and it is then evaluated for general purpose grasping, in-hand manipulation and operations with tools. We further present the CAD design for a first prototype.Peer ReviewedPostprint (author's final draft
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A novel design process of low cost 3D printed ambidextrous finger designed for an ambidextrous robotic hand
This paper presents the novel mechanical design of an ambidextrous finger specifically designed for an ambidextrous anthropomorphic robotic hand actuated by pneumatic artificial muscles. The ambidextrous nature of design allows fingers to perform both left and right hand movements. The aim of our design is to reduce the number of actuators, increase the range of movements with best possible range ideally greater than a common human finger. Four prototypes are discussed in this paper; first prototype is focused on the choice of material and to consider the possible ways to reduce friction. Second prototype is designed to investigate the tendons routing configurations. Aim of third and fourth prototype is to improve the overall performance and to maximize the grasping force. Finally, a unified design (Final design) is presented in great detail. Comparison of all prototypes is done from different angles to evaluate the best design. The kinematic features of intermediate mode have been analysed to optimize both the flexibility and the robustness of the system, as well as to minimize the number of pneumatic muscles. The final design of an ambidextrous finger has developed, tested and 3D printed
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