An Adaptive Actuation Mechanism for Anthropomorphic Robot Hands

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dc.contributor.authorKontoudis, George P.en
dc.contributor.authorLiarokapis, Minasen
dc.contributor.authorVamvoudakis, Kyriakos G.en
dc.contributor.authorFurukawa, Tomonarien
dc.contributor.departmentMechanical Engineeringen
dc.date.accessioned2019-10-25T12:59:33Zen
dc.date.available2019-10-25T12:59:33Zen
dc.date.issued2019-07-05en
dc.description.abstractThis paper presents an adaptive actuation mechanism that can be employed for the development of anthropomorphic, dexterous robot hands. The tendon-driven actuation mechanism achieves both flexion/extension and adduction/abduction on the finger's metacarpophalangeal joint using two actuators. Moment arm pulleys are employed to drive the tendon laterally and achieve a simultaneous execution of abduction and flexion motion. Particular emphasis has been given to the modeling and analysis of the actuation mechanism. More specifically, the analysis determines specific values for the design parameters for desired abduction angles. Also, a model for spatial motion is provided that relates the actuation modes with the finger motions. A static balance analysis is performed for the computation of the tendon force at each joint. A model is employed for the computation of the stiffness of the rotational flexure joints. The proposed mechanism has been designed and fabricated with the hybrid deposition manufacturing technique. The efficiency of the mechanism has been validated with experiments that include the assessment of the role of friction, the computation of the reachable workspace, the assessment of the force exertion capabilities, the demonstration of the feasible motions, and the evaluation of the grasping and manipulation capabilities. An anthropomorphic robot hand equipped with the proposed actuation mechanism was also fabricated to evaluate its performance. The proposed mechanism facilitates the collaboration of actuators to increase the exerted forces, improving hand dexterity and allowing the execution of dexterous manipulation tasks.en
dc.description.notesThis work was supported in part by the University of Auckland, Faculty of Engineering, FRDF project 3716482, in part by the Office of Naval Research (ONR) under Grant N00014-15-1-2125, and in part by the National Science Foundation under grant NSF CAREER CPS-1851588.en
dc.description.sponsorshipUniversity of Auckland, Faculty of Engineering, FRDF project [3716482]; Office of Naval Research (ONR)Office of Naval Research [N00014-15-1-2125]; National Science FoundationNational Science Foundation (NSF) [NSF CAREER CPS-1851588]en
dc.format.mimetypeapplication/pdfen
dc.identifier.doihttps://doi.org/10.3389/frobt.2019.00047en
dc.identifier.issn2296-9144en
dc.identifier.other47en
dc.identifier.urihttp://hdl.handle.net/10919/95052en
dc.identifier.volume6en
dc.language.isoenen
dc.publisherFrontiersen
dc.rightsCreative Commons Attribution 4.0 Internationalen
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/en
dc.subjectbioinspirationen
dc.subjectunderactuationen
dc.subjecttendon-driven mechanismsen
dc.subjectrobotic fingersen
dc.subjectrobot handsen
dc.titleAn Adaptive Actuation Mechanism for Anthropomorphic Robot Handsen
dc.title.serialFrontiers in Robotics and AIen
dc.typeArticle - Refereeden
dc.type.dcmitypeTexten
dc.type.dcmitypeStillImageen

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