Integrated linkage-driven dexterous anthropomorphic robotic hand

Uikyum Kim,Heeyoen Jeong,Hyun-Mok Jung,Dawoon Jung,Chanhun Park,Jongwoo Park,Joono Cheong,Hyunmin Do,Hyouk Ryeol Choi

doi:10.1038/s41467-021-27261-0

Abstract

Robotic hands perform several amazing functions similar to the human hands, thereby offering high flexibility in terms of the tasks performed. However, developing integrated hands without additional actuation parts while maintaining important functions such as human-level dexterity and grasping force is challenging. The actuation parts make it difficult to integrate these hands into existing robotic arms, thus limiting their applicability. Based on a linkage-driven mechanism, an integrated linkage-driven dexterous anthropomorphic robotic hand called ILDA hand, which integrates all the components required for actuation and sensing and possesses high dexterity, is developed. It has the following features: 15-degree-of-freedom (20 joints), a fingertip force of 34N, compact size (maximum length: 218 mm) without additional parts, low weight of 1.1 kg, and tactile sensing capabilities. Actual manipulation tasks involving tools used in everyday life are performed with the hand mounted on a commercial robot arm.

Highlights

Robotic hands perform several amazing functions similar to the human hands, thereby offering high flexibility in terms of the tasks performed
For performing efficient grasping motions, many effective robotic hands in a form capable of adaptive grasping or low degree of freedom (DOF) have been developed[7,8,9,10,11,12]; our analysis focused on multi-DOF hands with high dexterity
It is important to implement a linkage-driven robotic finger mechanism with human-finger-like 3-DOF movements having a narrow finger-sized workspace to ensure the dexterity of the robotic hand

Summary

Introduction

Robotic hands perform several amazing functions similar to the human hands, thereby offering high flexibility in terms of the tasks performed. Based on a linkage-driven mechanism, an integrated linkage-driven dexterous anthropomorphic robotic hand called ILDA hand, which integrates all the components required for actuation and sensing and possesses high dexterity, is developed It has the following features: 15-degreeof-freedom (20 joints), a fingertip force of 34N, compact size (maximum length: 218 mm) without additional parts, low weight of 1.1 kg, and tactile sensing capabilities. MPL v2.0, which was developed by Johns Hopkins APL, shows a high dexterity with active 22 DOF and a compact design integrating actuators and electronics This hand is capable of human-level natural movement and tactile feedback[15]. It is possible to realize movements almost similar to those of the human hand and generate a high fingertip force depending on the connection configuration of the tendon It is a highly suitable approach for developing a single humanoid robot. Force control on the spring side becomes difficult

Methods

Results

Conclusion