Commenced in January 2007
Paper Count: 31533
UTHM Hand: Mechanics Behind The Dexterous Anthropomorphic Hand
Abstract:A multi fingered dexterous anthropomorphic hand is being developed by the authors. The focus of the hand is the replacement of human operators in hazardous environments and also in environments where zero tolerance is observed for the human errors. The robotic hand will comprise of five fingers (four fingers and one thumb) each having four degrees of freedom (DOF) which can perform flexion, extension, abduction, adduction and also circumduction. For the actuation purpose pneumatic muscles and springs will be used. The paper exemplifies the mechanical design for the robotic hand. It also describes different mechanical designs that have been developed before date.
Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1073018Procedia APA BibTeX Chicago EndNote Harvard JSON MLA RIS XML ISO 690 PDF Downloads 2969
 Gary A. Thibodeau, Kevin T. Patton, "The Human Body In Health & Disease" 3rd Edition, The University of Michigan, Mosby, 2002.
 Aristotle, Di partibus animalium: 687a 7, ca. 340 BC
 A. Bicchi, "Hands For Dexterous Manipulation And Robust Grasping: A Difficult Road Toward Simplicity", IEEE Transactions on Robotics and Automation, vol.16, no.6, pp.652-662, Dec 2000
 D.Sc. Thesis, MH-1 A Computer- Operated Mechanical Hand, Heinrich Arnold Ernst.
 K. Salisbury, M. Mason, "Robot Hands And The Mechanics Of Manipulation", MIT Press: Cambridge, MA. 1985.
 R. Challoo, J.P. Johnson, R.A. McLauchlan, S.I. Omar, "Intelligent Control Of A Stanford Jpl Hand Attached To A 4 Dof Robot Arm" 1994 IEEE International Conference on Systems, Man, and Cybernetics, 1994. 'Humans, Information and Technology', , vol.2, pp.1274-1278,Oct 1994.
 W. T. Townsend, "The Barretthand Grasper, Programmably Flexible Part Handling And Assembly", Industrial Robots, vol. 27, no. 3, pp l81- 188, 2000.
 W. Paetsch, M. Kaneko , "A Three Fingered, Multijointed Gripper For Experimental Use", IEEE International Workshop on Intelligent Robots and Systems '90. 'Towards a New Frontier of Applications', vol.2, pp.853-858, Jul 1990.
 Hitoshi Maekawa, Kazuhito Yokoi, Kazuo Tanie, Makoto Kaneko, Nobuo Kimura, Nobuaki Imamura, "Development Of A Three-Fingered Robot Hand With Stiffness Control Capability", Mechatronics, vol. 2, no. 5, pp 483-494, October 1992.
 S. Jacobsen, E. Iversen, D. Knutti, R. Johnson, K. Biggers, "Design of the Utah/M.I.T. Dextrous Hand," 1986 IEEE International Conference on Robotics and Automation. vol.3, pp. 1520- 1532, Apr 1986.
 Xuan-Thu Le, Wn-Goo Kim, Byong-Chang Kim, Sung-Hyun Han, Jong-Guk Ann, Young-Ho Ha, , "Design of a Flexible Multifingered Robotics Hand with 12 D. O. F and Its Control Applications," SICEICASE, 2006. International Joint Conference, pp.3461-3465, Oct. 2006.
 Xuan-Thu Le, Se-Bong Oh, Dong-Won Ha, Won-Il Kim, Sung-Hyun Han, "A Study On Robust Control Of Multifingered Robot Hand With 16 D.O.F," ICCAS '07. International Conference on Control, Automation and Systems, 2007, pp.62-65, Oct. 2007.
 A. Namiki, Y. Imai, M. Ishikawa, M. Kaneko, "Development Of A High-Speed Multifingered Hand System And Its Application To Catching", 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS 2003), vol.3, pp. 2666- 2671, Oct. 2003
 F. Lotti, G. Vassura, "A Novel Approach To Mechanical Design Of Articulated Fingers For Robotic Hands", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2002, vol.2, pp. 1687- 1692, 2002
 C.S. Lovchik, M.A. Diftler, "The Robonaut Hand: A Dexterous Robot Hand For Space," 1999 IEEE International Conference on Robotics and Automation, 1999, vol.2, pp.907-912, 1999
 Li-Ren Lin; Han-Pang Huang; , "Mechanism design of a new multifingered robot hand," Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on , vol.2, no., pp.1471-1476 vol.2, 22-28 Apr 1996
 G. Casalino, F. Giorgi, A. Turetta, A. Caffaz, "Embedded Fpga-Based Control Of A Multifingered Robotic Hand," ICRA '03. IEEE International Conference on Robotics and Automation, 2003. vol.2, pp. 2786- 2791, Sept. 2003
 J. Butterfass, M. Grebenstein, H. Liu, G. Hirzinger, "DLR-Hand II: Next Generation Of A Dextrous Robot Hand", 2001 ICRA. IEEE International Conference on Robotics and Automation, 2001, vol.1, pp. 109- 114 vol.1, 2001
 L.Q. Tan, S.Q. Xie, I.C. Lin, T. Lin, "Development Of A Multifingered Robotic Hand", ICIA '09. International Conference on Information and Automation, 2009, pp.1541-1545, June 2009
 I. Yamano, T. Maeno, "Five-Fingered Robot Hand Using Ultrasonic Motors And Elastic Elements", 2005 IEEE International Conference on Robotics and Automation, ICRA 2005, pp. 2673- 2678, April 2005
 M. Kaneko, M. Higashimori, "Design Of 100G Capturing Robot", World Automation Congress, 2004. vol.15, pp.117-122, June-July 2004
 Frank Daerden and Dirk Lefeber, " Pneumatic Artificial Muscles: Actuators For Robotics And Automation," European journal of Mechanical and Environmental Engineering, vol.47, pp.10-21, 2000