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An embedded computer controlled four fingered robot hand

Content Provider	ACM Digital Library
Author	Narayana, G. V. Satya Ramaiah, P. S. Rao, M. Venkateswara
Abstract	When people interact with intelligent agents, they likely rely upon a wide range of existing knowledge about machines, minds, and intelligence. This knowledge not only guides these interactions, but it can be challenged and potentially changed by interaction experiences. The science of computation has systematically abstracted away the physical world. Embedded software systems, however engage the physical world. Human beings interact physically with environment using their hands. Robotic hand systems can be used in hazardous environments such as those encountered in nuclear, military, chemical, underwater, and space applications. Robots have the potential to play a large role in our world. However, as the potential use for robots grows, so does their need to interact with objects in their environment. An embedded computer controlled four fingered robotic hand is designed and developed with a simple and minimal control strategy to pick and place applications. The approach is based on anthropomorphic design with three fingers and an opposing thumb. Each finger has three links and three double revolute joints. Each finger is actuated by a single antagonistic pair of tendons. The robot hand system is interfaced to embedded computer with software control by means of 14 independent commands for the movement of fingers. Reliable grasping and releasing is achieved with simple control mechanism and IR sensors/push-button switches. The hand can pick a variety of objects with different surface characteristics and shapes without having to reconstruct its surface description. Picking of the object is successfully completed as long as the object is within the workspace of the hand and placed the object at the desired position within the workspace by relevant software control using keyboard commands. Details of hand control hardware and software for mainly pick and place applications are presented in this paper. Results of the experimental work for pick and place applications of different objects are enumerated.
Starting Page	6
Ending Page	12
Page Count	7
File Format	PDF
ISSN	15513688
DOI	10.1145/2492385.2492386
Journal	ACM SIGBED Review (SIGBED)
Volume Number	10
Issue Number	1
Language	English
Publisher	Association for Computing Machinery (ACM)
Publisher Date	2004-10-01
Publisher Place	New York
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Pick and place Ir sensors Robot hand
Content Type	Text
Resource Type	Article
Subject	Computer Science 1700/1701 Engineering 2200/2201

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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