Mechatronic design of an integrated robotic hand

  title={Mechatronic design of an integrated robotic hand},
  author={Morgan Quigley and Curt Salisbury and A. Ng and John Kenneth Salisbury},
  journal={The International Journal of Robotics Research},
  pages={706 - 720}
Historically, robotic hand research has tended to focus on two areas: severely underactuated hands, and high-degree-of-freedom fully actuated hands. Comparatively little research has been done in between those spaces. Furthermore, despite the large number of robotic hand designs that have been proposed in the past few decades, very few robot hands are available for purchase on the commercial market. In this paper, we present a hand designed for minimalistic dexterous manipulation, in which… 

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A novel super underactuated robotic hand that uses just one motor and has three cooperative fingers with two phalanxes per finger that could be used as an end-effecter of humanoid robots is presented.

Integrated linkage-driven dexterous anthropomorphic robotic hand

An integrated linkage-driven dexterous anthropomorphic robotic hand called ILDA hand, which integrates all the components required for actuation and sensing and possesses high dexterity, is developed.

Development of a multifingered robotic hand with the thenar grasp function

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A Tendon-Driven Robotic Dexterous Hand Design for Grasping

Based on the characteristics of the dexterous hand, a hierarchical control system is proposed and fuzzy adaptive PID is used as the motor control algorithm and results indicate the hand has well performance.

PUT-Hand—Hybrid Industrial and Biomimetic Gripper for Elastic Object Manipulation

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Enumeration, structural and dimensional synthesis of robotic hands: theory and implementation

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Human-machine shared control: New avenue to dexterous prosthetic hand manipulation

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CIE-Hand towards Prosthetic Limb

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An Under-Actuated and Adaptable Soft Robotic Gripper

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Dexterous manipulation through rolling

  • A. BicchiR. Sorrentino
  • Computer Science
    Proceedings of 1995 IEEE International Conference on Robotics and Automation
  • 1995
This paper considers the design of a robot hand that achieves dexterity (i.e. the ability to arbitrarily locate and reorient manipulated objects) through rolling through rolling, including exact planning for a spherical object and approximate planning for general objects.

Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity

  • A. Bicchi
  • Computer Science
    IEEE Trans. Robotics Autom.
  • 2000
An attempt at summarizing the evolution and the state of the art in the field of robot hands is made and arguments are presented in favor of a -minimalistic" attitude in the design of hands for practical applications.

Design of the Utah/M.I.T. Dextrous Hand

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Modelling and Controlling the Compliance of a Robotic Hand with Soft Finger-pads

The perspective of this control strategy, differently from the traditional one that “makes more compliant a stiff system’, is to use the internal forces of the grasp to “make stiffer a compliant system”.

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This edited book covers some of the most challenging problems on the forefront of todays research on physical interaction with real and virtual objects, with special emphasis on modelling contacts between objects, grasp planning algorithms, haptic perception, and advanced design of hands, devices and interfaces.