Anthropomorphic Finger Research Articles

A novel articulated mechanism mimicking the motion of index fingers

In this paper we propose an analytical formulation for simulation and design of a one d.o.f. articulated finger mechanism with three phalanges. The formulation is based on a study of the design and operation of an index human finger. In particular, we have proposed a suitable mechanical design for an anthropomorphic finger as both an approximation of human architecture and an easy practical design. Kinematic characteristics are illustrated with numerical examples.

Double active universal joint (DAUJ): robotic joint mechanism for human-like motions

We present a robotic joint mechanism that makes it possible to mimic the human-like motions. The proposed robotic joint, called the double active universal joint (DAUJ), generates a two-degree of freedom motion suppressing rolling by the coupled motions of two independent motors. The mechanism design and kinematics are mentioned. Two application examples are outlined: an anthropomorphic finger and an in-pipe inspection robot. The results of basic experiments are reported to confirm the effectiveness of the proposed mechanism. Also, we briefly introduce the advantage that the compliance of the proposed mechanism can be easily controlled by modulating the engagement period of the magnetic clutch.

An Optimal Design of Driving Mechanism in a 1 Degree of Freedom (d.o.f.) Anthropomorphic Finger

Mechanisms can be used in finger design to obtain suitable actuation systems and to give stiff robust behavior in grasping tasks. The design of driving mechanisms for fingers has been attached at LARM in Cassino with the aim to obtain one degree of freedom actuation for an anthropomorphic finger. The dimensional design of a finger‐driving mechanism has been formulated as a multi‐objective optimization problem by using evaluation criteria for fundamental characteristics regarding with finger motion, grasping equilibrium and force transmission. The feasibility of the herein proposed optimum design procedure for a finger‐driving mechanism has been tested by numerical examples that have been also used to enhance a prototype previously built at LARM in Cassino.

Shape memory alloy micromotors for direct-drive actuation of dexterous artificial hands

This paper presents basic considerations on the design of small lightweight motors intended primarily for actuating robotic and prosthetic hands. New actuators, compact enough to be incorporated in the links of articulated hands, have the potential for significantly improving hand dexterity by reducing the control complexity, friction and backlash intrinsically associated with present tendon-based actuation techniques. In order to develop motor units for actuating the joints of a three-link anthropomorphic finger developed in our laboratory, we have investigated the technology of shape memory alloys (SMAS). The SMA actuator consists of two motor modules working in push-pull mode and located inside the structure of the proximal finger phalanx. The design and mechanical performance of each module are presented. Experimental results indicate that SMAS, despite some control problems originating from the intrinsic complexity of their thermoelastic behaviour, can be effectively used for the intended goal.

An advanced robot system for automated diagnostic tasks through palpation.

An approach to the design of a robot system capable of executing complex sensory-motor sequences aimed at gathering data useful for diagnostic purposes is presented. The main features of such a robot system are discussed, and its possible integration in an advanced, interactive expert system for medical diagnosis is considered. As an example of implementation of the concept of a robot system for automated diagnostic tasks, the design characteristics of a tendon-actuated, anthropomorphic finger, incorporating force and position sensors for low-level compliant motion control and skin-like sensors for tactile perception, are outlined. The hierarchical control architecture devised for managing some different diagnostic sensory-motor sequences (subroutines) is also presented. >

An Anthropomorphic Robot Finger for Investigating Artificial Tactile Perception

In this paper the design, implementation, and testing of an artificial tactile sensing system incorporating an articulated robot finger are presented. It was our primary aim in this work to set up the hardware and software tools necessary for investigating basic issues in artificial tactile perception. In the first part of the paper the criteria followed in the design of the robot finger and of its motor and sensory com ponents are outlined. The second part of the paper deals with the problem of defining a hierarchical architecture for the control of the ex ploratory finger. In this context, particular attention is de voted to the description of a set of tactile subroutines that are intended to replicate some of the basic sensory motor se quences adopted by humans for tactile exploration. The main features of the high-level planner, which is supposed to super vise the execution of those tactile primitives, are also discussed. Finally, experimental results that demonstrate the capabil ity of the robotic system of executing the previously defined tactile subroutines and of extracting specific object features are presented.