NDLI: New design of one motor driven under actuated humanoid hand

Content Provider	IEEE Xplore Digital Library
Author	Almasri, B. Ouezdou, F.B.
Copyright Year	2007
Description	Author affiliation: Univ. de Versailles St. Quentin, Velizy (Almasri, B.; Ouezdou, F.B.)
Abstract	In this paper a new design of a humanoid hand with five fingers is presented. This hand is designed to carry out most complex and difficult manipulations. The designed hand may be used either as prosthetic device or as humanoid robot end effector's. For these two applications, the shape, the weight and the energy consumption are important criteria to be taken into account in the design process. The reduction of actuators number decreases considerably the energy consumption and simplifies the control process. To satisfy this requirement, the proposed hand is an under- actuated mechanism having a total number of 15 degrees of freedom (DOF) and driven by only one motor. Each finger has 3 DOF for phalanxes flexion-extension movement. These flexion- extension movements of the five fingers are independents. They are driven by one motor and a binary mechanism allowing the selection of which phalanx is able to move or not. Simulation results showing a high capability of manipulating are given. The preliminary design of the adopted mechanism is also presented.
Starting Page	1491
Ending Page	1496
File Size	565563
Page Count	6
File Format	PDF
ISBN	9781424409112
DOI	10.1109/IROS.2007.4399057
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-29
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fingers Humans Actuators Humanoid robots Energy consumption Intelligent robots Prosthetics DC motors Muscles USA Councils biorobotics humanoid robotic human hand
Content Type	Text
Resource Type	Article

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