Search Results (7)

The design of prosthetic hands presents inherent complexities and contradictions that require careful resolution during the initial design phase to achieve a functional solution. This study simplifies prosthetic hand design through an in-depth analysis of the two degrees of freedom (DoF) metacarpophalangeal (MCP) joint, critical in enabling versatile grasping capabilities. Optimal palmar finger orientations were devised using performance metrics, enabling each finger to have 3 DoF while maintaining a simplified mechanical structure. The proposed palmar configuration demonstrated significantly improved grasping performance compared to conventional parallel-fingered designs, accommodating objects of diverse shapes and sizes. A preliminary 3D printed prototype was developed and tested to validate the design. The prototype successfully demonstrated its ability to grasp a wide range of objects, substantiating the efficacy of the novel palmar configuration. This innovative design reduces mechanical complexity without compromising dexterity or functionality. It represents a transformative approach to prosthetic hand development, aligning with the principal goal of enabling users to perform activities of daily living effectively. The findings of this work introduce a novel paradigm in prosthetic hand design, offering a balanced combination of efficiency, dexterity, and practical applicability, thereby advancing the state-of-the-art in prosthetic technology. Full article

As the end-effector of a humanoid robot, the dexterous hand plays a crucial role in the process of robot execution. However, due to the complicated and delicate structure of the human hand, it is difficult to replicate human hand functionality, balancing structural complexity, and cost. To address the problem, the article introduces the design and development of a multi-finger synergistic adaptive humanoid dexterous hand with underactuation flexible articulated fingers and integrated pressure sensors. The proposed hand achieves force feedback control, minimizes actuator use while enabling diverse grasping postures, and demonstrates the capability to handle everyday objects. It combines advanced bionics with innovative design to optimize flexibility, ease of manufacturing, and cost-effectiveness. Full article

This paper proposes an underactuated dexterous hand with novel bidirectional self-locking joints (BSJs) that enable multiple fingertip motion trajectories. The BSJ design integrates a locking wheel, rack, finger side walls, and a self-holding electromagnetic actuator, combining rack-and-pinion transmission with friction self-locking principles. Building on the BSJ concept, an underactuated dexterous hand is developed. The study begins with an analysis of BSJ’s deviation angle, establishing the minimum deviation angle critical to its operation. A detailed mechanical model of a BSJ is formulated, and its parameters are quantitatively analyzed to determine a safety static friction coefficient (0.177). Five distinct finger motion modes are designed and kinematic analysis focuses on the index finger and the generation of 57 unique fingertip active motion trajectories. Experimental validation included single finger performance tests that confirmed the diversity of fingertip trajectories and the hand’s ability to withstand loading in both forward and reverse directions. Through envelope and precision grasping experiments, the dexterous hand demonstrated its adaptability and ability to grasp objects of various sizes and shapes, such as strawberries, apples, student ID cards, and water bottles. This capability underscores its potential for a wide range of applications, from prosthetic hands for rehabilitation, where precision and adaptability are key, to robotic hands in industrial automation, offering flexibility in diverse tasks. Full article

Dexterous robotic manipulation tasks depend on estimating the state of in-hand objects, particularly their orientation. Although cameras have been traditionally used to estimate the object’s pose, tactile sensors have recently been studied due to their robustness against occlusions. This paper explores tactile data’s temporal information for estimating the orientation of grasped objects. The data from a compliant tactile sensor were collected using different time-window sample sizes and evaluated using neural networks with long short-term memory (LSTM) layers. Our results suggest that using a window of sensor readings improved angle estimation compared to previous works. The best window size of 40 samples achieved an average of 0.0375 for the mean absolute error (MAE) in radians, 0.0030 for the mean squared error (MSE), 0.9074 for the coefficient of determination (R${}^2$), and 0.9094 for the explained variance score (EXP), with no enhancement for larger window sizes. This work illustrates the benefits of temporal information for pose estimation and analyzes the performance behavior with varying window sizes, which can be a basis for future robotic tactile research. Moreover, it can complement underactuated designs and visual pose estimation methods. Full article

Developing a dexterous robotic hand that mimics natural human hand movements is challenging due to complicated hand anatomy. Such a practical design should address several requirements, which are often conflicting and force the designer to prioritize the main design characteristics for a given application. Therefore, in the existing designs the requirements are only partially satisfied, leading to complicated and bulky solutions. To address this gap, a novel single-actuated, cable-driven, and self-contained robotic hand is presented in this work. This five-fingered robotic hand supports 19 degrees of freedom (DOFs) and can perform a wide range of precision and power grasps. The external structure of fingers and the thumb is inspired by Pisa/IIT SoftHand, while major modifications are implemented to significantly decrease the number of parts and the effect of friction. The cable configuration is inspired by the tendon structure of the hand anatomy. Furthermore, a novel power transmission system is presented in this work. This mechanism addresses compactness and underactuation, while ensuring proper force distribution through the fingers and the thumb. Moreover, this power transmission system can achieve adaptive grasps of objects with unknown geometries, which significantly simplifies the sensory and control systems. A 3D-printed prototype of the proposed design is fabricated and its base functionality is evaluated through simulations and experiments. Full article

Underactuated, modular and compliant hands and grippers are interesting solutions in grasping and manipulation tasks due to their robustness, versatility, and adaptability to uncertainties. However, this type of robotic hand does not usually have enough dexterity in grasping. The implementation of some specific features that can be represented as “embedded constraints” allows to reduce uncertainty and to exploit the role of the environment during the grasp. An example that has these characteristics is the Soft ScoopGripper a gripper that has a rigid flat surface in addition to a pair of modular fingers. In this paper, we propose an upgraded version of the Soft ScoopGripper, developed starting from the limits shown by the starting device. The new design exploits a modular structure to increase the adaptability to the shape of the objects that have to be grasped. In the proposed device the embedded constraint is no rigid neither unactuated and is composed of an alternation of rigid and soft modules, which increase versatility. Moreover, the use of soft material such as thermoplastic polyurethane (TPU) reduces the risk of damage to the object being grasped. In the paper, the main design choices have been exploited and a finite element method (FEM) analysis through static simulation supports a characterization of the proposed solution. A complete prototype and some preliminary tests have been presented. Full article

Most prosthetic hands adopt an under-actuated mechanism to achieve dexterous motion performance with a lightweight and anthropomorphic design. Many have been verified in laboratories, and some have already been commercialized. However, a trade-off exists between the dexterity and the light weight of such prosthetic hands. In general, current commercially available prosthetic hands usually consider one aspect at the expense of the other, such as obtaining diversiform hand motions but an increased weight, or achieving lightweight design but with limited motion functions. This study attempts to attain a balance between the two factors, by realizing diversiform hand motions while reducing the weight as far as possible. An anthropomorphic prosthetic hand is proposed with only three servomotors embedded in a human-sized palm, with multiple functions, such as a stable/adaptive grasp and passive hyperextension. The proposed hand can achieve 13 grasp types with over 80% of the grasp motions under the Cutkosky taxonomy, while it weighs only 132.5 g, at less than 36% of the prosthesis weight limitation based on the study of Kay et al. Full article