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This paper presents a highly integrated underactuated anthropomorphic finger with three joints and two DOFs using a novel coupled-adaptive linkage mechanism. The finger has two main motion modes: coupled motion in free space and self-adaptive motion when contacting with the object. Compared with conventional prosthetic finger, the combination of these two motion modes improves the anthropomorphic...
Due to the hand biomechanical constrains and coordinate manner of motor control, single one joint is difficult to move independently. The aim of this paper is to have an analysis on the joint independence of hand and wrist. At first, a grasp experiment under the tolerance grasping was completed, and the hand and wrist joint angles in different grasping postures were recorded for representing the functionality...
Around 2020, China is going to build its own space station and to carry out space science research of larger scale. Chinese Space Station (CSS) will operate in orbit for about ten years. This period will provide much more opportunities to scientists in China after the international space station. The space manipulators as cost-effective, energy-efficient tools supporting humans on extended space missions...
In order to improve the prosthetic hand's design and usability, this paper presents a synthetic framework for evaluating the current prosthetic hands' anthropomorphic features with 12 quantified prosthetic hand anthropomorphism evaluation indexes (QPHAEIs). Our primary results show that a global anthropomorphic score (GAS) of the current commercial prosthetic hands is only 45.2%. The compliance, coupling...
Multi-modal information fusion plays an important role in many robotic applications, such as target grasping, manipulation and fine operation. Traditional fusion strategies, e.g. Bayesian fusion, directly adopt each uni-modal likelihood without giving enough attention to the fact that all these likelihoods are often vulnerable to sample data and modality-specific identification algorithm, which could...
The paper mainly validates that the dynamics characteristic of the free-floating space robot during space manipulator capturing the target satellite. The dynamics verification system adopts the hybrid simulation method, which combines the real ground hardware experiment and the software simulation. The hardware experiment component can acquire the joint driving torques, which are the inputs of the...
Manipulators with flexible joints are widely used as the space manipulators, whereas the elasticity of flexible joint leads to poor dynamic performance. To solve the influence of elasticity, the paper is to establish the model of flexible joint, identify the parameters, and design the controller. The off-line methods are applied to identify the current coefficient and the parameters of flexible joint...
This paper describes a redundant resolution method for 7-DOF anthropomorphic manipulator with joint limits, which considers the optimization of human-like motion and the optimization of the maximum reachable region of the manipulator's tip. First, a novel method for computing the set of feasible arm angle under joint limits is presented. Second, a relation describing the movement characteristics of...
A multi-finger dynamics model has been presented in this study, which contains a single finger dynamics model equation and a restraint equation between fingers based on Lagrangian multiplier controller. To validate the model, an EtherCAT master and slave platform has been developed based on FPGA. Meanwhile, the multi-finger dynamics algorithm has been designed in the TwinCAT. Finally, the experiments...
This paper presents a multi-DOF and multisensory prosthetic hand (HIT V prosthetic hand) with five modular fingers. The hand has a total of 11 joints, which are actuated by 6 intrinsic DC motors. Each digit (2 joints, DIP and MCP, coupled) is driven separately by a motor within the proximal phalange, while the trapeziometacarpal (TM) joint of the thumb is specially devised with an additional actuation...
A five-fingered, multi-sensory and biomimetic prosthetic hand is presented in this paper. The HIT-Hand is a multisensory and integrated five fingered hand with in total 11 DOFs. The hand has five fingers and each of them can be driven individually by the embedded actuation and control system fitted in the palm. Each finger has 2 DOFs and two joints, the two joints are mechanically coupled by a cable...
To reduce mass and cubage, a joint for space robot is design with a double star windings permanent magnet synchronous machine (DS-PMSM), a double windings permanent magnet break, two resolvers with double windings, a torque sensor with double strains. Two complete sub-control systems have been constructed based on Field Programmable Gate Array (FPGA). An isolatable interface port is designed between...
A novel adaptive object impedance control strategy is presented for dual-arm cooperative humanoid manipulators. A general impedance scheme comprising internal impedance control and object impedance control is adopted, which aims at conferring a compliant behavior both in end-effector level and object lever. The adaptation law for the stiffness and damping of object impedance is derived from Lyapunov...
A highly integrated joint controller using in a humanoid robot arm has been developed in the paper. The joint controller is highly integrated with position sensors — the hall sensors, the magnetic sensor and the photoelectrical sensor, the torque sensors, the temperature sensor and so on. Besides, it can control and drive the motor in PWM and SVPWM modes. What is more, the joint controller has been...
In this paper we propose a strictly conservative and novel hybrid safety control strategy consisting of the pre-contact safety strategy and the post-contact safety strategy in order to provide safety guarantees and enable continuous motions. An optimal motion trajectory planning that limits jerk, acceleration and velocity of robot motion and can obtain a time optimal motion is introduced as post-contact...
With the growing demand for security, video surveillance is becoming increasingly important. And persistence is a key indicator for intelligent surveillance systems which means the ability to fit 24 hoursall-weather work. While the performances of traditional surveillance systems are limited since they can only gain either visible images during the day or intensity images in poor illumination conditions...
In order to verify and test the dynamics characteristic of free-floating space robot, a hybrid dynamics simulation experiment based on hardware and software simulation is present in this paper. Firstly, a set of ground experiment system which consists of the joint electronic simulator, the central controller and dynamics simulation computer is built to simulate the motion of space manipulator and...
This paper developed a teleoperation system of a space robot, which can assist the operator in planning trajectory quickly and intuitively. In addition to the general function, this system can ensure the completion of certain mission when some joint of the space robot is locked for a hardware malfunction. The teleoperation system includes 4 subsystems-Graphics display subsystem, Camera monitor subsystem,...
A key technology of space robots is to maintain the satellite attitude while space service is proceeding. This paper discusses the motion planning and control methods for both robot satellite attitude and robotic end-effector actions in the form of collaboration. A single gimbal control moment gyro (SGCMG) system is adopted to maintain the satellite attitude because of higher output torque than traditional...
The paper proposes an integrated approach to solve the inverse kinematics of the 7-DOF humanoid arm with offset wrist. Firstly, according to the arm's configuration, the closed-form solutions of inverse kinematics for 7-DOFs arms are developed based on the reverse coordinates method. Secondly, an integrated inverse kinematic approach, termed the modified gradient projection method, is proposed on...
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