Anthropomorphic robotic finger system with bio-mimetic artificial joints, BioRob'12
Zhe X, Kumar V, Matsuoka Y, Todorov E.
IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob) 2012
Abstract
We describe a new robotic finger that is composed of three bio-mimetic joints whose biomechanics and dynamic properties are close to their human counterparts. By using six
pneumatic cylinders, the finger is actuated through a series of simplified antagonistic tendons whose insertion points and moment arms mimic the anatomy of the human hand. We
develop simulation models of the kinematics and air dynamics, and validate them using experimental data. Preliminary results on controlling the finger are also described.
Resources:
The UW Hand: A Low-cost, 20-DOF Tendon-driven Hand with Fast and Compliant Actuation, IJRR'13
Zhe X, Kumar V, Todorov E.
The International Journal of Robotics Research'2013 (IJRR'13) (under review)
Abstract
We describe the process of designing and building a 20 degrees-of-freedom tendon-driven anthropomorphic robotic hand. We use 3D printing technology to reduce cost and save time. The entire mechanism is easily assembled thanks to our Snap-On joint design. The fingers are modular and can be individually modified with little effort. The hand is actuated by new pneumatic system consisting of an assembly of 40 low-friction cylinders, and fast proportional valves mounted off-board. The new hand described here is a drop-in replacement for the universal actuation system developed independently. We also use our physics engine MuJoCo to construct a detailed kinematic model of the new hand.
Resources:
- The UW Hand: A Low-cost, 20-DOF Tendon-driven Hand with Fast and Compliant Actuation, IJRR'13 (.pdf)
- The UW Hand: Lego design, easy of repairs, simulator and actuation (.mp4)
- The UW Hand: Hand on actuation, Hand's closeup
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