Design of a single-material complex structure anthropomorphic robotic hand
In the field of robotic hand design, soft body and anthropomorphic design are two trends with a promising future. Designing soft body anthropomorphic robotic hands with human-like grasping ability, but with a simple and reliable structure, is a challenge that still has not been not fully solved. In...
| Principais autores: | , , , , , , |
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| Outros Autores: | |
| Formato: | Journal Article |
| Idioma: | English |
| Publicado em: |
2022
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| Acesso em linha: | https://hdl.handle.net/10356/159393 |
| _version_ | 1826129526937092096 |
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| author | Tian, Li Zheng, Jianmin Magnenat Thalmann, Nadia Li, Hanhui Wang, Qifa Tao, Jialin Cai, Yiyu |
| author2 | Institute for Media Innovation (IMI) |
| author_facet | Institute for Media Innovation (IMI) Tian, Li Zheng, Jianmin Magnenat Thalmann, Nadia Li, Hanhui Wang, Qifa Tao, Jialin Cai, Yiyu |
| author_sort | Tian, Li |
| collection | NTU |
| description | In the field of robotic hand design, soft body and anthropomorphic design are two trends with a promising future. Designing soft body anthropomorphic robotic hands with human-like grasping ability, but with a simple and reliable structure, is a challenge that still has not been not fully solved. In this paper, we present an anatomically correct robotic hand 3D model that aims to realize the human hand's functionality using a single type of 3D-printable material. Our robotic hand 3D model is combined with bones, ligaments, tendons, pulley systems, and tissue. We also describe the fabrication method to rapidly produce our robotic hand in 3D printing, wherein all parts are made by elastic 50 A (shore durometer) resin. In the experimental section, we show that our robotic hand has a similar motion range to a human hand with substantial grasping strength and compare it with the latest other designs of anthropomorphic robotic hands. Our new design greatly reduces the fabrication cost and assembly time. Compared with other robotic hand designs, we think our robotic hand may induce a new approach to the design and production of robotic hands as well as other related mechanical structures. |
| first_indexed | 2024-10-01T07:42:03Z |
| format | Journal Article |
| id | ntu-10356/159393 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T07:42:03Z |
| publishDate | 2022 |
| record_format | dspace |
| spelling | ntu-10356/1593932022-06-18T20:11:13Z Design of a single-material complex structure anthropomorphic robotic hand Tian, Li Zheng, Jianmin Magnenat Thalmann, Nadia Li, Hanhui Wang, Qifa Tao, Jialin Cai, Yiyu Institute for Media Innovation (IMI) Engineering::Mechanical engineering::Robots Biologically-Inspired Robots Biomimetic In the field of robotic hand design, soft body and anthropomorphic design are two trends with a promising future. Designing soft body anthropomorphic robotic hands with human-like grasping ability, but with a simple and reliable structure, is a challenge that still has not been not fully solved. In this paper, we present an anatomically correct robotic hand 3D model that aims to realize the human hand's functionality using a single type of 3D-printable material. Our robotic hand 3D model is combined with bones, ligaments, tendons, pulley systems, and tissue. We also describe the fabrication method to rapidly produce our robotic hand in 3D printing, wherein all parts are made by elastic 50 A (shore durometer) resin. In the experimental section, we show that our robotic hand has a similar motion range to a human hand with substantial grasping strength and compare it with the latest other designs of anthropomorphic robotic hands. Our new design greatly reduces the fabrication cost and assembly time. Compared with other robotic hand designs, we think our robotic hand may induce a new approach to the design and production of robotic hands as well as other related mechanical structures. National Research Foundation (NRF) Published version This research is supported by the National Research Foundation, Singapore, under its International Research Centres in Singapore Funding Initiative. 2022-06-15T08:55:09Z 2022-06-15T08:55:09Z 2021 Journal Article Tian, L., Zheng, J., Magnenat Thalmann, N., Li, H., Wang, Q., Tao, J. & Cai, Y. (2021). Design of a single-material complex structure anthropomorphic robotic hand. Micromachines, 12(9), 1124-. https://dx.doi.org/10.3390/mi12091124 2072-666X https://hdl.handle.net/10356/159393 10.3390/mi12091124 34577767 2-s2.0-85115657942 9 12 1124 en Micromachines © 2021 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (https:// creativecommons.org/licenses/by/ 4.0/). application/pdf |
| spellingShingle | Engineering::Mechanical engineering::Robots Biologically-Inspired Robots Biomimetic Tian, Li Zheng, Jianmin Magnenat Thalmann, Nadia Li, Hanhui Wang, Qifa Tao, Jialin Cai, Yiyu Design of a single-material complex structure anthropomorphic robotic hand |
| title | Design of a single-material complex structure anthropomorphic robotic hand |
| title_full | Design of a single-material complex structure anthropomorphic robotic hand |
| title_fullStr | Design of a single-material complex structure anthropomorphic robotic hand |
| title_full_unstemmed | Design of a single-material complex structure anthropomorphic robotic hand |
| title_short | Design of a single-material complex structure anthropomorphic robotic hand |
| title_sort | design of a single material complex structure anthropomorphic robotic hand |
| topic | Engineering::Mechanical engineering::Robots Biologically-Inspired Robots Biomimetic |
| url | https://hdl.handle.net/10356/159393 |
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