NDLI: A flexible control of robot hand with three fingers

Content Provider	IEEE Xplore Digital Library
Author	Jin-Hwan Sok Tae-Hee An Jun-Hong Kim In-Man Park Sung-Hyun Han
Copyright Year	2010
Description	Author affiliation: Intem Co., Ltd., Changwon, Korea (Jun-Hong Kim; In-Man Park) \|\| Dept. of Advanced Eng., Graduate School, Kyungnam University, Masan, Korea (Jin-Hwan Sok) \|\| Dept. of Electronic Eng., Pusan National University, Pusan, Korea (Tae-Hee An) \|\| Division of Mechanical System and Automation Eng., Kyungnam University, Masan, Korea (Sung-Hyun Han)
Abstract	In this paper we present an experimental performance for the validation of a robotic hand with three-finger applications. The increasing requirement for robotic applications in dynamic unstructured environments is motivating the need for dextrous end-effectors which have the wide variety of tasks and objects encountered in these environments. The human hand is a very complex grasping tool that can handle objects of different sizes and shapes. Many research activities have been carried out to develop artificial robot hands with capabilities similar to the human hand. This hand gripper is the wide working space compared with its physical dimensions and the capability to deal with objects in working environment conditions. This capability is achieved by using force/torque sensor and by properly controlling and coordinating the gripper and the carrying arm. After a brief illustration on the main features of the gripper, the experimental activity is presented and the results achieved are discussed. This system also aims to substitute the astronauts in periodical operations with a semi-autonomous robotic device. Note that with this control structure, it is also very simple to connect the arm/gripper system using Internet to other computational resources or robotic devices, for example to emulate tele-operation tasks.
Starting Page	2094
Ending Page	2098
File Size	244895
Page Count	5
File Format	PDF
ISBN	9781424474530
e-ISBN	9788993215021
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-10-27
Publisher Place	Korea (South)
Access Restriction	Subscribed
Rights Holder	IEEE International Conference on Control & Automation
Subject Keyword	Robot kinematics Fingers Force Three finger Flexible control Robot sensing systems Force sensor Robot hand Force sensors Grippers Wide working space
Content Type	Text
Resource Type	Article

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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
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