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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...
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 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 tactile sensor based varying contact point manipulation strategy that utilizes the mathematical models based on the assumption of fixed contact points is proposed to manipulate unknown objects with rolling contact for dexterous robot hand. In this strategy, fingertip tactile sensor is utilized to detect contact position and to update the size parameters about the finger end-link when rolling occurs...
In order to eliminate the drawbacks of conventional force feedback gloves, a new type of master hand has been developed. By utilizing three ??four-bar mechanism joint?? in series and wire coupling mechanism, the master finger transmission ratio is kept exact 1:1.4:1 in the whole movement range and it can make active motions in both extension and flexion direction. Additionally, to assure faster data...
In free-flying space robotic system, the thruster jets will compensate the disturbances induced by manipulator to keep the attitude of the robot base invariable. For saving the expensive fuel that thruster jets cost, point-to-point path planning method in joint space for minimizing base reaction is proposed in this paper. The sinusoidal and polynomial functions are used here to parameterize the joint...
In this paper, we discuss a collision detection approach which enables the flexible joint manipulator to work safely in an unstructured environment. By using joint torque sensors, a novel Cartesian impedance control law is proposed to implement the compliance control at first; then adaptive dynamics joint controller is extended to all the joints for achieving precision control performance; furthermore,...
In this paper, a new type of master finger in exoskeleton type has been developed to implement master-slave operation for DLR/HIT dexterous hand. The finger has three novel characteristics. Firstly, the exoskeleton mechanism uses ldquofour-bar mechanism jointrdquo, which rotates about an instant center that coincides with joint center of operator's finger. Secondly, the master finger can distinguish...
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