Design of 3D-printed Cable Driven Humanoid Hand Based on Bidirectional Elastomeric Passive Transmission
Abstract Motion control of the human hand is the most complex part of the human body. It has always been a challenge for a good balance between the cost, weight, responding speed, grasping force, finger extension, and dexterity of prosthetic hand. To solve these issues, a 3D-printed cable driven hum...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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SpringerOpen
2021-08-01
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| Series: | Chinese Journal of Mechanical Engineering |
| Subjects: | |
| Online Access: | https://doi.org/10.1186/s10033-021-00595-y |
| _version_ | 1819137854028120064 |
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| author | Teru Chen Xingwei Zhao Guocai Ma Bo Tao Zhouping Yin |
| author_facet | Teru Chen Xingwei Zhao Guocai Ma Bo Tao Zhouping Yin |
| author_sort | Teru Chen |
| collection | DOAJ |
| description | Abstract Motion control of the human hand is the most complex part of the human body. It has always been a challenge for a good balance between the cost, weight, responding speed, grasping force, finger extension, and dexterity of prosthetic hand. To solve these issues, a 3D-printed cable driven humanoid hand based on bidirectional elastomeric passive transmission (BEPT) is designed in this paper. A semi-static model of BEPT is investigated based on energy conservation law to analyze the mechanical properties of BEPT and a dynamical simulation of finger grasping is conducted. For a good imitation of human hand and an excellent grasping performance, specific BEPT is selected according to human finger grasping experiments. The advantage of BEPT based humanoid hand is that a good balance between the price and performance of the humanoid hand is achieved. Experiments proved that the designed prosthetic hand’s single fingertip force can reach 33 N and the fastest fingertip grasping speed realized 0.6 s/180°. It also has a good force compliance effect with only 430g’s weight. It can not only grab fragile objects like raw eggs and paper cup, but also achieve strong grasping force to damage metal cans. This humanoid hand has considerable application prospects in artificial prosthesis, human-computer interaction, and robot operation. |
| first_indexed | 2024-12-22T10:57:29Z |
| format | Article |
| id | doaj.art-b6f6d9591b6f4813a46fdcbfc13e4fc3 |
| institution | Directory Open Access Journal |
| issn | 1000-9345 2192-8258 |
| language | English |
| last_indexed | 2024-12-22T10:57:29Z |
| publishDate | 2021-08-01 |
| publisher | SpringerOpen |
| record_format | Article |
| series | Chinese Journal of Mechanical Engineering |
| spelling | doaj.art-b6f6d9591b6f4813a46fdcbfc13e4fc32022-12-21T18:28:34ZengSpringerOpenChinese Journal of Mechanical Engineering1000-93452192-82582021-08-0134111110.1186/s10033-021-00595-yDesign of 3D-printed Cable Driven Humanoid Hand Based on Bidirectional Elastomeric Passive TransmissionTeru Chen0Xingwei Zhao1Guocai Ma2Bo Tao3Zhouping Yin4State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and TechnologyState Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and TechnologyState Key Laboratory of Intelligent Manufacturing System Technology, Beijing Institute of Electronic System EngineeringState Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and TechnologyState Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and TechnologyAbstract Motion control of the human hand is the most complex part of the human body. It has always been a challenge for a good balance between the cost, weight, responding speed, grasping force, finger extension, and dexterity of prosthetic hand. To solve these issues, a 3D-printed cable driven humanoid hand based on bidirectional elastomeric passive transmission (BEPT) is designed in this paper. A semi-static model of BEPT is investigated based on energy conservation law to analyze the mechanical properties of BEPT and a dynamical simulation of finger grasping is conducted. For a good imitation of human hand and an excellent grasping performance, specific BEPT is selected according to human finger grasping experiments. The advantage of BEPT based humanoid hand is that a good balance between the price and performance of the humanoid hand is achieved. Experiments proved that the designed prosthetic hand’s single fingertip force can reach 33 N and the fastest fingertip grasping speed realized 0.6 s/180°. It also has a good force compliance effect with only 430g’s weight. It can not only grab fragile objects like raw eggs and paper cup, but also achieve strong grasping force to damage metal cans. This humanoid hand has considerable application prospects in artificial prosthesis, human-computer interaction, and robot operation.https://doi.org/10.1186/s10033-021-00595-yHumanoid handBidirectional elastomeric passive transmissionArtificial prosthesis |
| spellingShingle | Teru Chen Xingwei Zhao Guocai Ma Bo Tao Zhouping Yin Design of 3D-printed Cable Driven Humanoid Hand Based on Bidirectional Elastomeric Passive Transmission Chinese Journal of Mechanical Engineering Humanoid hand Bidirectional elastomeric passive transmission Artificial prosthesis |
| title | Design of 3D-printed Cable Driven Humanoid Hand Based on Bidirectional Elastomeric Passive Transmission |
| title_full | Design of 3D-printed Cable Driven Humanoid Hand Based on Bidirectional Elastomeric Passive Transmission |
| title_fullStr | Design of 3D-printed Cable Driven Humanoid Hand Based on Bidirectional Elastomeric Passive Transmission |
| title_full_unstemmed | Design of 3D-printed Cable Driven Humanoid Hand Based on Bidirectional Elastomeric Passive Transmission |
| title_short | Design of 3D-printed Cable Driven Humanoid Hand Based on Bidirectional Elastomeric Passive Transmission |
| title_sort | design of 3d printed cable driven humanoid hand based on bidirectional elastomeric passive transmission |
| topic | Humanoid hand Bidirectional elastomeric passive transmission Artificial prosthesis |
| url | https://doi.org/10.1186/s10033-021-00595-y |
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