Multi-fingered robotic hand

A robotic hand is presented having a plurality of fingers, each having a plurality of joints pivotally connected one to the other. Actuators are connected at one end to an actuating and control mechanism mounted remotely from the hand and at the other end to the joints of the fingers for manipulating the fingers and passing externally of the robot manipulating arm in between the hand and the actuating and control mechanism. The fingers include pulleys to route the actuators within the fingers. Cable tension sensing structure mounted on a portion of the hand are disclosed, as is covering of the tip of each finger with a resilient and pliable friction enhancing surface

3D Printed Soft Robotic Hand

Soft robotics is an emerging industry, largely dominated by companies which hand mold their actuators. Our team set out to design an entirely 3D printed soft robotic hand, powered by a pneumatic control system which will prove both the capabilities of soft robots and those of 3D printing. Through research, computer aided design, finite element analysis, and experimental testing, a functioning actuator was created capable of a deflection of 2.17” at a maximum pressure input of 15 psi. The single actuator was expanded into a 4 finger gripper and the design was printed and assembled. The created prototype was ultimately able to lift both a 100-gram apple and a 4-gram pill, proving its functionality in two prominent industries: pharmaceutical and food packing

Multi fingered robot hand in industrial robot application using tele-operation

This research focuses on the working and development of wireless robotic hand system. In this research previously developed models have been studied. After analysis of those models, a better approach has been presented in this research. The objective of this research is to design and develop a tele-operated robotic hand system. The robotic hand is intended for providing solutions to industrial problems like robot reprogramming, industrial automation and safety of the workers working in hostile environments. The robotic hand system works in the master slave configuration where Bluetooth is being used as the communication channel for the tele-operation. The master is a glove, embedded with sensors to detect the movement of every joint present in the hand, which a human operator can wear. This joint movement is transferred to the slave robotic hand which will mimic the movement of human operator. The robotic hand is a multi fingered dexterous and anthropomorphic hand. All the fingers are capable of performing flexion, extension, abduction, adduction and hence circumduction. A new combination of pneumatic muscles and springs has been used for the actuation purpose. As a result, this combination reduces the size of the robotic hand by decreasing the number of pneumatic muscles used. The pneumatic muscles are controlled by the opening and closing of solenoid valves. A novel technique has been used in the robotic hand for tendon routing, which gives the ability of independence to all finger joints. The heart of all the control mechanism of the system is mbed microcontroller. The designed system was tested at different module levels. The results show the successful establishment of communication between master and slave at a rate of 10 packets per second, which was sufficient for smooth motion of the system. The amount of torque produced at all the joints in the robotic hand has been presented in this research. The posture tests have been performed in which two fingers were actuated which followed the master. This system has achieved motion of fingers without any tendon coupling problem. The system is able to replace the human industrial workers performing dexterous tasks

Robotic hand project

Eldivene monte edilmiş esneklik sensörleri yardımıyla insan elinden alınan konum bilgileri ile mekatronik tabanlı robotik elinin kontrolü sağlanmıştır. İnsan elinin parmaklarının açısal hareketleri algılanarak bir mikrodenetleyici tarafından işlenir ve servo motorlar yardımıyla robotik el kontrol edilir. Yapılan testlerde robotik elin, eldiven giydirilmiş insan elinin hareketini taklit edebildiği görülmüştür. Bu robotik el otomasyonda ve insan için tehlikeli ortamlarda tutma işleminin uzaktan kontrolü için kullanılabilir. Robot el, üzerine sıcaklık algılayıcıları monte edilebilecek şekilde hazırlanmış olup, bunları kullanmakla amaçlanan; robot elin tuttuğu cismin sıcaklığını eldivende hissedebilmektir.In this work, the mechatronic based robotic hand is controlled by the position data taken from the glove which has flex sensors mounted to capture finger bending of the human hand. The angular movement of human hand’s fingers are perceived and processed by a microcontroller, and the robotic hand is controlled by actuating servo motors. It has seen that robotic hand can simulate the movement of the human hand that put on the glove, during tests have done. This robotic hand can be used not only in automation, but also handling operations in dangerous environment for people. The robotic hand is prepared for adding temperature sensors on it. By the help of temperature sensor integrated to the robotic hand, temperature information can also be monitored

AER Neuro-Inspired interface to Anthropomorphic Robotic Hand

Address-Event-Representation (AER) is a communication protocol for transferring asynchronous events between VLSI chips, originally developed for neuro-inspired processing systems (for example, image processing). Such systems may consist of a complicated hierarchical structure with many chips that transmit data among them in real time, while performing some processing (for example, convolutions). The information transmitted is a sequence of spikes coded using high speed digital buses. These multi-layer and multi-chip AER systems perform actually not only image processing, but also audio processing, filtering, learning, locomotion, etc. This paper present an AER interface for controlling an anthropomorphic robotic hand with a neuro-inspired system.Unión Europea IST-2001-34124 (CAVIAR)Ministerio de Ciencia y Tecnología TIC-2003-08164-C03-02Ministerio de Ciencia y Tecnología TIC2000-0406-P4- 0

Robotic hand with remote control

В данной статье описывается процесс создания рабочей модели роботизированной руки сдистанционным управлением. Подобные устройства применяются во многих сферах деятельности человека, таких как автоматизированное производство, медицина, индустрия развлечений и, конечно, космонавтика. В этой статье, во-первых, подробно разъясняется процесс подбора компонентов, плюсы и минусы каждого из вариантов, во-вторых, поэтапно проиллюстрирован процесс сборки первого прототипа устройства, и в-третьих, изложен принцип работы устройства. В процессе разработки роборуки было выяснено, что управляющие алгоритмы для микроконтроллера не сложно написать самому. Однако организовать правильную работу датчиков оказалось весьма сложно. Автор предполагает, что это устройство будет одним из шагов к созданию высокоточных манипуляторов для использования в космосе.This article is described the process of creating of the working model of a robotic hand with remotecontrol. Similar devices are used in many fields of activity of society, such as automatic manufacture, medicine,entertainment industry and, of course, cosmonautics. This article firstly explained in detail the process of selectionof components, pluses and minuses of each of options, secondly, assembly process of the first prototype of the device is step by step illustrated, and thirdly, the working principle of the device is described. In the process of development of a robohand it has been found out that it isn't difficult to write the operating algorithms for the microcontroller. However to organize the correct operation of sensors it has appeared very difficult. The author assumes that this device will be ones more step to create high-precision manipulators for use in space

Ground Robotic Hand Applications for the Space Program study (GRASP)

This document reports on a NASA-STDP effort to address research interests of the NASA Kennedy Space Center (KSC) through a study entitled, Ground Robotic-Hand Applications for the Space Program (GRASP). The primary objective of the GRASP study was to identify beneficial applications of specialized end-effectors and robotic hand devices for automating any ground operations which are performed at the Kennedy Space Center. Thus, operations for expendable vehicles, the Space Shuttle and its components, and all payloads were included in the study. Typical benefits of automating operations, or augmenting human operators performing physical tasks, include: reduced costs; enhanced safety and reliability; and reduced processing turnaround time

Robotic hand with remote control

В данной статье описывается процесс создания рабочей модели роботизированной руки сдистанционным управлением. Подобные устройства применяются во многих сферах деятельности человека, таких как автоматизированное производство, медицина, индустрия развлечений и, конечно, космонавтика. В этой статье, во-первых, подробно разъясняется процесс подбора компонентов, плюсы и минусы каждого из вариантов, во-вторых, поэтапно проиллюстрирован процесс сборки первого прототипа устройства, и в-третьих, изложен принцип работы устройства. В процессе разработки роборуки было выяснено, что управляющие алгоритмы для микроконтроллера не сложно написать самому. Однако организовать правильную работу датчиков оказалось весьма сложно. Автор предполагает, что это устройство будет одним из шагов к созданию высокоточных манипуляторов для использования в космосе.This article is described the process of creating of the working model of a robotic hand with remotecontrol. Similar devices are used in many fields of activity of society, such as automatic manufacture, medicine,entertainment industry and, of course, cosmonautics. This article firstly explained in detail the process of selectionof components, pluses and minuses of each of options, secondly, assembly process of the first prototype of the device is step by step illustrated, and thirdly, the working principle of the device is described. In the process of development of a robohand it has been found out that it isn't difficult to write the operating algorithms for the microcontroller. However to organize the correct operation of sensors it has appeared very difficult. The author assumes that this device will be ones more step to create high-precision manipulators for use in space