Commenced in January 2007
Frequency: Monthly
Edition: International
Paper Count: 2

robotic hand Related Abstracts

2 Multi-Tooled Robotic Hand for Tele-Operation of Explosive Devices

Authors: Faik Derya Ince, Ugur Topgul, Alp Gunay, Can Bayoglu, Dante J. Dorantes-Gonzalez

Abstract:

Explosive attacks are arguably the most lethal threat that may occur in terrorist attacks. In order to counteract this issue, explosive ordnance disposal operators put their lives on the line to dispose of a possible improvised explosive device. Robots can make the disposal process more accurately and saving human lives. For this purpose, there is a demand for more accurate and dexterous manipulating robotic hands that can be teleoperated from a distance. The aim of this project is to design a robotic hand that contains two active and two passive DOF for each finger, as well as a minimum set of tools for mechanical cutting and screw driving within the same robotic hand. Both hand and toolset, are teleoperated from a distance from a haptic robotic glove in order to manipulate dangerous objects such as improvised explosive devices. SolidWorks® Computer-Aided Design, computerized dynamic simulation, and MATLAB® kinematic and static analysis were used for the robotic hand and toolset design. Novel, dexterous and robust solutions for the fingers were obtained, and six servo motors are used in total to remotely control the multi-tooled robotic hand. This project is still undergoing and presents currents results. Future research steps are also presented.

Keywords: tele-operation, robotic hand, Explosive Manipulation, Tool Integration

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1 Haptic Robotic Glove for Tele-Exploration of Explosive Devices

Authors: Gizem Derya Demir, Ilayda Yankilic, Daglar Karamuftuoglu, Dante Dorantes

Abstract:

ABSTRACT HAPTIC ROBOTIC GLOVE FOR TELE-EXPLORATION OF EXPLOSIVE DEVICES Gizem Derya Demir, İlayda Yankılıç, Dağlar Karamüftüoğlu, Dante J. Dorantes-González Department of Mechanical Engineering, MEF University Ayazağa Cad. No.4, 34396 Maslak, Sarıyer, İstanbul, Turkey Nowadays, terror attacks are, unfortunately, a more common threat around the world. Therefore, safety measures have become much more essential. An alternative to providing safety and saving human lives is done by robots, such as disassembling and liquidation of bombs. In this article, remote exploration and manipulation of potential explosive devices from a safe-distance are addressed by designing a novel, simple and ergonomic haptic robotic glove. SolidWorks® Computer-Aided Design, computerized dynamic simulation, and MATLAB® kinematic and static analysis were used for the haptic robotic glove and finger design. Angle controls of servo motors were made using ARDUINO® IDE codes on a Makeblock® MegaPi control card. Simple grasping dexterity solutions for the fingers were obtained using one linear soft and one angle sensors for each finger, and six servo motors are used in total to remotely control a slave multi-tooled robotic hand. This project is still undergoing and presents current results. Future research steps are also presented.

Keywords: Exoskeleton, Teleoperation, Haptics, Position Control, dexterity, robotic hand

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