Design analysis and development of low cost underactuated Robotic hand

  title={Design analysis and development of low cost underactuated Robotic hand},
  author={Parag Khanna and Khushdeep Singh and Kishor Bhurchandi and Shital S. Chiddarwar},
  journal={2016 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
This paper represents the control and driving mechanism of IVLABS Robotic hand, which aims to grab different objects performing various types of grasps while retaining the resemblance of a human hand; thus it is able to function as a Prosthetic hand. Meanwhile, it is vital that such hands be highly functional, light weight, provide ease of attachment and control for people and have minimum wear and tear. But their cost generally makes them unaffordable to a larger section of people. Hence, this… 
Force-Sensitive Prosthetic Hand with 3-axis Magnetic Force Sensors
This work presents the design of 3D magnetic force sensors that are embedded within the fingers of an open-source, 3D printable underactuated hand, and implements a simple control scheme using both shear and normal force readings to automate grasp release.
An experimental mechatronic design and control of a 5 DOF Robotic arm for identification and sorting of different sized objects
The aim is to present the manual and automatic control of the arm for the recognition and the installation of the objects through a simple and low in cost sensor like the one that was used by this paper.
Assistive Technology in Ecuador: Current Status of Myoelectric Prostheses of Upper Limbs
This literature survey covers relevant studies developed by the industry and the academia on the design of upper limb protheses, both locally and internationally, with the main objective of collecting information as a starting point for the manufacture of prostheses using low-cost materials in Ecuador.
3D Printing Technology for Biomedical Practice: A Review
3D printing or additive manufacturing is an emerging technique for the fabrications of biomedical components. Several researchers are working on fabrications of the biomedical components, future
Design of a Low-Cost Robotic Arm controlled by Surface EMG Sensors
The construction of a low cost robotic prosthesis and its control through the Arduino platform using EMG/ECG electromyographic surface sensors and the different details related to its implementation have been discussed and the results obtained have been obtained.


A modular, open-source 3D printed underactuated hand
The design of an open-source, low-cost, single actuator underactuated hand that can be created through fast and commonly-accessible rapid-prototyping techniques and simple, off-the-shelf components is established.
Modelling and Control of the Barrett Hand for Grasping
In this paper, mathematical model of a three fingered Barrett Hand is developed using the Lagrangian method and a contact model is developed for hand-object coupled system assuming that the object properties are well known.
An investigation of grasp type and frequency in daily household and machine shop tasks
A study on the usage frequency of different grasp types throughout the daily functions of a professional house maid and a machinist to enable a better understanding of how people utilize different grasps to accomplish tasks throughout the day, as well as inform the design of robotic and prosthetic hands.
The GRASP Taxonomy of Human Grasp Types
The resulting taxonomy incorporates all grasps found in the reviewed taxonomies that complied with the grasp definition and is shown that due to the nature of the classification, the 33 grasp types might be reduced to a set of 17 more generalgrasps if only the hand configuration is considered without the object shape/size.
Design of the Utah/M.I.T. Dextrous Hand
The Center for Engineering Design at the University of Utah, and the Artificial Intelligence Laboratory at the Massachusetts Institute of Technology have developed a robotic end effector intended to
Towards a personal robotics development platform: Rationale and design of an intrinsically safe personal robot
A novel concept for a mobile, 2-armed, 25-degree-of- freedom system with backdrivable joints, low mechanical impedance, and a 5 kg payload per arm is described.
The DLR hand arm system
An anthropomorphic hand arm system using variable stiffness actuation has been developed at DLR and a paradigm change from impedance controlled, but mechanically stiff joints to robots using intrinsic variable compliance joints is carried out.
Hirzinge.”The DLR Hand Arm System
  • In the proceedings of 2011 IEEE International Conference on Robotics and Automation Shanghai International Conference Center May
  • 2011
ROBOTIQ adaptive three fingered gripper Available:
  • ROBOTIQ adaptive three fingered gripper Available: