33 research outputs found
AN UNDERACTUATED MECHANICAL HAND PROSTHESYS BY IFToMM ITALY
This paper describes a mechanical underactuated hand, whose design is under patenting. The proposed hand can be used as robot grasping end-effector and, mainly, as a human prosthesis. The proposed underactuated mechanism is based on an adaptive scheme, hence it permits to move five fingers with only one actuator. The actuator is connected to a set of pulleys that operate five tendons. Each tendon will move the phalanxes of a finger. The proposed mechanism permits each finger to adapt its configuration to almost any object shape so that each of the fingers will grasp the object independently on the configuration of the finger itself and independently on the configuration of the other fingers. The tendons are un-extendible so that each finger will grasp an object always with the same force, regardless of object shape. The overall grasping force will be controlled just by adjusting the input actuator torque. This paper also reports preliminary kinematic and dynamic studies aiming to a validation of the feasibility of the proposed design solution. Finally an early experimental prototype is shown
A synergy-driven approach to a myoelectric hand
In this paper, we present the Pisa/IIT SoftHand
with myoelectric control as a synergy-driven approach for
a prosthetic hand. Commercially available myoelectric hands
are more expensive, heavier, and less robust than their bodypowered
counterparts; however, they can offer greater freedom
of motion and a more aesthetically pleasing appearance. The
Pisa/IIT SoftHand is built on the motor control principle of
synergies through which the immense complexity of the hand
is simplified into distinct motor patterns. As the SoftHand
grasps, it follows a synergistic path with built-in flexibility to
allow grasping of a wide variety of objects with a single motor.
Here we test, as a proof-of-concept, 4 myoelectric controllers:
a standard controller in which the EMG signal is used only as
a position reference, an impedance controller that determines
both position and stiffness references from the EMG input, a
standard controller with vibrotactile force feedback, and finally
a combined vibrotactile-impedance (VI) controller. Four healthy
subjects tested the control algorithms by grasping various
objects. All controllers were sufficient for basic grasping,
however the impedance and vibrotactile controllers reduced
the physical and cognitive load on the user, while the combined
VI mode was the easiest to use of the four. While these results
need to be validated with amputees, they suggest a low-cost,
robust hand employing hardware-based synergies is a viable
alternative to traditional myoelectric prostheses
Autonomous Object Handover Using Wrist Tactile Information
Grasping in an uncertain environment is a topic of great
interest in robotics. In this paper we focus on the challenge of object
handover capable of coping with a wide range of different and unspecified
objects. Handover is the action of object passing an object from one agent
to another. In this work handover is performed from human to robot. We
present a robust method that relies only on the force information from
the wrist and does not use any vision and tactile information from the
fingers. By analyzing readings from a wrist force sensor, models of tactile
response for receiving and releasing an object were identified and tested
during validation experiments
Detecting Object Affordances with Convolutional Neural Networks
We present a novel and real-time method to detect
object affordances from RGB-D images. Our method trains
a deep Convolutional Neural Network (CNN) to learn deep
features from the input data in an end-to-end manner. The CNN
has an encoder-decoder architecture in order to obtain smooth
label predictions. The input data are represented as multiple
modalities to let the network learn the features more effectively.
Our method sets a new benchmark on detecting object affordances, improving the accuracy by 20% in comparison with
the state-of-the-art methods that use hand-designed geometric
features. Furthermore, we apply our detection method on a
full-size humanoid robot (WALK-MAN) to demonstrate that
the robot is able to perform grasps after efficiently detecting
the object affordances
Manipulation Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task
With the purpose of achieving a desired interaction performance for our compliant humanoid robot (COMAN), in this paper we propose a semi-autonomous control framework and evaluate it experimentally in a valve turning setup. The control structure consists of various modules and interfaces to identify the valve, locate the robot in front of it and perform the manipulation. The manipulation module implements four motion primitives (Reach, Grasp, Rotate and Disengage) and realizes the corresponding desired impedance profile for each phase to accomplish the task. In this direction, to establish a stable and compliant contact between the valve and the robot hands, while being able to generate the sufficient rotational torques depending on the valve's friction, Rotate incorporates a novel dual-arm impedance control technique to plan and realize a task-appropriate impedance profile. Results of the implementation of the proposed control framework are firstly evaluated in simulation studies using Gazebo. Subsequent experimental results highlight the efficiency of the proposed impedance planning and control in generation of the required interaction forces to accomplish the task
An Underactuated Multi-finger Grasping Device
In this paper, a mechanical model for an underactuated multi-finger grasping device is presented. The device has single-tendon, three-phalanx fingers, all moved by only one actuator. By means of the model, both the kinematic and dynamical behaviour of the finger itself can be studied. The finger is part of a more complex mechanical system that consists of a four-finger grasping device for robots or a five-finger human hand prosthesis. Some results of both the kinematic and dynamical behaviour are also presented
Teleimpedance Control of a Synergy-Driven Anthropomorphic Hand
In this paper, a novel synergy driven teleimpedance
controller for the Pisa–IIT SoftHand is presented. Towards
the development of an efficient, robust, and low-cost hand
prothesis, the Pisa–IIT SoftHand is built on the motor control
principle of synergies, through which the immense complexity
of the hand is simplified into distinct motor patterns. As the
SoftHand grasps, it follows a synergistic path with built-in
flexibility to allow grasping of objects of various shapes using
only a single motor. In this work, the hand grasping motion
is regulated with an impedance controller which incorporates
the user’s postural and stiffness synergy profiles in realtime.
In addition, a disturbance observer is realized which estimates
the grasping contact force. The estimated force is then fedback
to the user via a vibration motor. Grasp robustness and
transparency improvements were evaluated on two healthy
subjects while grasping different objects. Implementation of
the proposed teleimpedance controller led to the execution of
stable grasps by controlling the grasping forces, via modulation
of hand compliance. In addition, utilization of the vibrotactile
feedback resulted in reduced physical load on the user. While
these results need to be validated with amputees, they provide
evidence that a low-cost, robust hand employing hardwarebased
synergies is a viable alternative to traditional myoelectric
prostheses
Grasp compliance regulation in synergistically controlled robotic hands with VSA
In this paper, we propose a general method
to achieve a desired grasp compliance acting both on
the joint stiffness values and on the hand configuration,
also in the presence of restrictions caused by synergistic
underactuation. The approach is based on the iterative
exploration of the equilibrium manifold of the system
and the quasi-static analysis of the governing equations.
As a result, the method can cope with large commanded
variations of the grasp stiffness with respect to an initial
configuration. Two numerical examples are illustrated.
In the first one, a simple 2D hand is analyzed so that the
obtained results can be easily verified and discussed. In
the second one, to show the method at work in a more
realistic scenario, we model grasp compliance regulation
for a DLR/HIT hand II grasping a ball