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Biomechatronic design and control of an anthropomorphic artificial hand for prosthetic and robotic applications
| Content Provider | CiteSeerX |
|---|---|
| Author | Zollo, Loredana Roccella, Stefano Guglielmelli, Eugenio Carrozza, M. Chiara Dario, Paolo |
| Abstract | Abstract—This paper proposes a biomechatronic approach to the design of an anthropomorphic artificial hand able to mimic the natural motion of the human fingers. The hand is conceived to be applied to prosthetics as well as to humanoid and personal robotics; hence, anthropomorphism is a fundamental requirement to be addressed both in the physical aspect and in the functional behavior. In this paper, a biomechatronic approach is addressed to harmonize the mechanical design of the anthropomorphic artificial hand with the design of the hand control system. More in detail, this paper focuses on the control system of the hand and on the optimization of the hand design in order to obtain a humanlike kinematics and dynamics. By evaluating the simulated hand performance, the mechanical design is iteratively refined. The mechanical structure and the ratio between number of actuators and number of degrees of freedom (DOFs) have been optimized in order |
| File Format | |
| Journal | IEEE/ASME Transactions on Mechatronics |
| Language | English |
| Access Restriction | Open |
| Subject Keyword | Anthropomorphic Artificial Hand Biomechatronic Design Robotic Application Mechanical Design Biomechatronic Approach Simulated Hand Performance Hand Design Hand Control System Physical Aspect Mechanical Structure Human Finger Natural Motion Functional Behavior Control System Personal Robotics Humanlike Kinematics Fundamental Requirement |
| Content Type | Text |
| Resource Type | Article |
