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Main Title: A novel type of compliant and underactuated robotic hand for dexterous grasping
Author(s): Deimel, Raphael
Brock, Oliver
Type: Article
Language Code: en
Abstract: The usefulness and versatility of a robotic end-effector depends on the diversity of grasps it can accomplish and also on the complexity of the control methods required to achieve them. We believe that soft hands are able to provide diverse and robust grasping with low control complexity. They possess many mechanical degrees of freedom and are able to implement complex deformations. At the same time, due to the inherent compliance of soft materials, only very few of these mechanical degrees have to be controlled explicitly. Soft hands therefore may combine the best of both worlds. In this paper, we present RBO Hand 2, a highly compliant, underactuated, robust, and dexterous anthropomorphic hand. The hand is inexpensive to manufacture and the morphology can easily be adapted to specific applications. To enable efficient hand design, we derive and evaluate computational models for the mechanical properties of the hand's basic building blocks, called PneuFlex actuators. The versatility of RBO Hand 2 is evaluated by implementing the comprehensive Feix taxonomy of human grasps. The manipulator's capabilities and limits are demonstrated using the Kapandji test and grasping experiments with a variety of objects of varying weight. Furthermore, we demonstrate that the effective dimensionality of grasp postures exceeds the dimensionality of the actuation signals, illustrating that complex grasping behavior can be achieved with relatively simple control.
Issue Date: 2016
Date Available: 23-Oct-2017
DDC Class: 620 Ingenieurwissenschaften und zugeordnete Tätigkeiten
Subject(s): grasping
robotic hand
soft hand
human grasping
hand synergy
actuator model
Feix taxonomy
Journal Title: International journal of robotics research
Publisher: Sage Publications
Publisher Place: London [u.a.]
Volume: 35
Issue: 1-3
Publisher DOI: 10.1177/0278364915592961
Page Start: 161
Page End: 185
EISSN: 1741-3176
ISSN: 0278-3649
Notes: Dieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.
This publication is with permission of the rights owner freely accessible due to an Alliance licence and a national licence (funded by the DFG, German Research Foundation) respectively.
Appears in Collections:FG Robotics » Publications

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