Abstract
The human hand is Nature's most versatile and dexterous end-effector and it has been a source of inspiration for roboticists for over 50 years. Recently, significant industrial and research effort has been put into the development of dexterous robot hands and grippers. Such end-effectors offer robust grasping and dexterous, in-hand manipulation capabilities that increase the efficiency, precision, and adaptability of the overall robotic platform. This work focuses on the development of modular, sensorized objects that can facilitate benchmarking of the dexterity and performance of hands and grippers. The proposed objects aim to offer; a minimal, sufficiently diverse solution, efficient pose tracking, and accessibility. The object manufacturing instructions, 3D models, and assembly information are made publicly available through the creation of a corresponding repository.
Highlights
W ITH the ever increasing presence of robotic agents in factory and home environments, significant industrial and research effort has been put into the development of dexterous robot hands and grippers
The third is based on an inertial measurement unit (IMU), along with a microcontroller and bluetooth module (Ardunio NANO 33 IoT), powered by a 180 mAh lithium polymer battery
This work focused on a modular and accessible sensorized object set for benchmarking the grasping and dexterous, in-hand manipulation capabilities of human and robot hands
Summary
W ITH the ever increasing presence of robotic agents in factory and home environments, significant industrial and research effort has been put into the development of dexterous robot hands and grippers Such end-effectors offer robust grasping and dexterous, in-hand manipulation capabilities that increase the efficiency, precision, and adaptability of the system to different task requirements. Even though each design is generally accompanied by a range of tests and experiments highlighting selected performance aspects, it remains challenging to assess which hand is most appropriate for a specific application. This is relevant for tasks that require a certain degree of in-hand manipulation capability, where a unified performance evaluation standard is yet to be adopted. The rest of this work is organized as follows: Section II introduces the related work, Section III presents the design of the objects, Sections IV demonstrates how the proposed objects can be used, while Section V concludes the work and discusses some possible future directions
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