Design and Control of Artificial Robotic Hand

被引：0

作者：

Bin Junaid, Ali ^{[1
,2
]}

Afzal, Muhammad Raheel ^{[1
,2
]}

Rasheed, Tahir ^{[3
]}

Tahir, Sanan ^{[3
]}

Ahmed, Sharjeel ^{[3
]}

Sohail, Mehreen ^{[3
]}

Ali, Muzaffar ^{[3
]}

机构：

[1] Gyeongsang Natl Univ, Sch Mech & Aerosp Engn, Jinju 660701, South Korea

[2] Gyeongsang Natl Univ, ReCAPT, Jinju 660701, South Korea

[3] Air Univ, Dept Mechatron Engn, Islamabad 44000, Pakistan

来源：

2014 INTERNATIONAL CONFERENCE ON ROBOTICS AND EMERGING ALLIED TECHNOLOGIES IN ENGINEERING (ICREATE) | 2014年

关键词：

Imitation; dexterity; gripping; bio-mechatronic; artificial hand;

D O I：

暂无

中图分类号：

TM [电工技术]; TN [电子技术、通信技术];

学科分类号：

0808 ; 0809 ;

摘要：

Artificial robotic hands are designed having dexterity and functionality as close as the natural human hand produce. This paper proposes a bio-mechatronic approach for the design and control of an anthropomorphic artificial hand capable of performing basic human hand motions with fundamental gripping functionality. The mathematical model is derived using forward kinematics and also simulated on MATLAB r to ascertain the position of robotic fingers in 3D space. The dexterity of the artificial hand is exhibited by imitating the natural motion of the human fingers. Imitation is achieved by two different methods; a camera based marker recognition system to identify the human hand gestures and acquired flexion data from sensors attached to the human fingers. In order to have proper gripping, closed-loop control is implemented using the tactile sensors. Feedback for the closed-loop control is provided by force sensing resistors (FSRs), attached on the fingertips of the robotic hand. These sensors also enable handling of fragile objects.

引用

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页码：10 / 15

页数：6

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