Abstract
We present a novel open-source 3D-printable dexterous anthropomorphic robotic hand specifically designed to reproduce Sign Languages’ hand poses for deaf and deaf-blind users. We improved the InMoov hand, enhancing dexterity by adding abduction/adduction degrees of freedom of three fingers (thumb, index and middle fingers) and a three-degrees-of-freedom parallel spherical joint wrist. A systematic kinematic analysis is provided. The proposed robotic hand is validated in the framework of the PARLOMA project. PARLOMA aims at developing a telecommunication system for deaf-blind people, enabling remote transmission of signs from tactile Sign Languages. Both hardware and software are provided online to promote further improvements from the community.
Highlights
In recent years significant advances have been made in Human-Robot Interaction (HRI)
We used the same architecture of the experimental apparatus presented in [17]; we selected a subset of handshapes and controlled the hand to reproduce them
This paper has presented a low-cost 3D-printable opensource anthropomorphic robotic hand de‐ signed for Sign Language reproduction
Summary
In recent years significant advances have been made in Human-Robot Interaction (HRI). Many robots explicitly mimic biological behaviour and are equipped with dexterous multi-fingered hands. Controzzi’s robot hand [1] is a representative example of the state of the art in prosthetic, bio-inspired and tendondriven robot hands. Tendon-driven solutions are widely used, from the Utah/MIT Dexterous Hand [2] to the more recent high-speed multi-finger hand [3]. The Yokoi hand [4] is an 18-DoF (Degrees of Freedom) tendon-driven robot hand, designed for grasping. The survey on bio-inspired dexterous hands [5] is a good starting point to deepen this research area. Despite the significant progress in the last decades, this area of research is still far away from devel‐ oping realistic muscular-type fingers and generally realistic hand movements. Examples of dexterous robot hands for humanoid robots are the Awiwi [7] and the Shadow hand [8]
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