Abstract
This work presents the first steps towards the development of an anthropomorphic and dexterous hand with adjustable compliance. In this article, we primarily focus on the mechatronic design, modeling and testing of a novel self-sensing actuated joint. Self-sensing characteristic is achieved by specific design of highly back-driveable and efficient actuators based on a DC motor and a ball-screw, together with a novel flexible pivot providing a frictionless, backlash-free mechanical structure. Thus, forces applied to the finger produce an accurate image on the motor current which can be measured. Based on this feature, external forces applied to the finger can be estimated from the motor current measurement. Overall, this mechatronic design contributes to the improvement of manipulation skills of robotic hands, thanks to the combination of high performance mechanics, high sensitivity to external forces and compliance control capability.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.