A novel type of compliant and underactuated robotic hand for dexterous grasping

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dc.contributor.authorDeimel, Raphael
dc.contributor.authorBrock, Oliver
dc.date.accessioned2017-10-23T09:31:20Z
dc.date.available2017-10-23T09:31:20Z
dc.date.issued2016
dc.descriptionDieser Beitrag ist mit Zustimmung des Rechteinhabers aufgrund einer (DFG geförderten) Allianz- bzw. Nationallizenz frei zugänglich.de
dc.descriptionThis 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.en
dc.description.abstractThe 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.en
dc.identifier.eissn1741-3176
dc.identifier.issn0278-3649
dc.identifier.urihttps://depositonce.tu-berlin.de/handle/11303/6801
dc.identifier.urihttp://dx.doi.org/10.14279/depositonce-6185
dc.language.isoen
dc.rights.urihttp://rightsstatements.org/vocab/InC/1.0/en
dc.subject.ddc620 Ingenieurwissenschaften und zugeordnete Tätigkeitende
dc.subject.othergraspingen
dc.subject.otherrobotic handen
dc.subject.othersoft handen
dc.subject.otherhuman graspingen
dc.subject.otherhand synergyen
dc.subject.otherunderactuationen
dc.subject.otherpneumaticsen
dc.subject.otheractuator modelen
dc.subject.otherPneuflexen
dc.subject.otherFeix taxonomyen
dc.titleA novel type of compliant and underactuated robotic hand for dexterous graspingen
dc.typeArticleen
dc.type.versionpublishedVersionen
dcterms.bibliographicCitation.doi10.1177/0278364915592961
dcterms.bibliographicCitation.issue1-3
dcterms.bibliographicCitation.journaltitleInternational journal of robotics researchen
dcterms.bibliographicCitation.originalpublishernameSage Publicationsde
dcterms.bibliographicCitation.originalpublisherplaceLondon [u.a.]de
dcterms.bibliographicCitation.pageend185
dcterms.bibliographicCitation.pagestart161
dcterms.bibliographicCitation.volume35
tub.accessrights.dnbdomain
tub.affiliationFak. 4 Elektrotechnik und Informatik::Inst. Technische Informatik und Mikroelektronik::FG Roboticsde
tub.affiliation.facultyFak. 4 Elektrotechnik und Informatikde
tub.affiliation.groupFG Roboticsde
tub.affiliation.instituteInst. Technische Informatik und Mikroelektronikde
tub.publisher.universityorinstitutionTechnische Universität Berlin

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