An under-actuated mechanism for a robotic finger

D. S.V. Bandara, R. A.R.C. Gopura, G. Kajanthan, M. Brunthavan, H. I.M.M. Abeynayake

研究成果: Chapter in Book/Report/Conference proceedingConference contribution

9 被引用数 (Scopus)

抄録

Robotic hands can be applied in different applications such as prosthesis, humanoid robots, industrial robotic manipulators and other kinds of robotic arms. Introduction of robotic technology into the field of prosthesis has resulted a higher quality of life for amputees. In this paper an under-actuated mechanism which has the self-adaptation ability is proposed to be used in the fingers of the hand prosthesis. The mechanism is a modification of the cross bar mechanism and it shows grasping adaptation ability for different geometries. In addition the mechanism is capable to generate dexterous grasping patterns making a paradigm shift from the conventional linkage mechanisms used for fingers which only has the capability for the grasping. Kinematic analysis, mathematical simulation and computer simulations were carried out to evaluate the effectiveness of the mechanism. Furthermore a new parameter, degree of adaptation is introduced to evaluate the performance of the under-actuated finger mechanisms.

本文言語英語
ホスト出版物のタイトル4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ407-412
ページ数6
ISBN(電子版)9781479936687
DOI
出版ステータス出版済み - 10 7 2014
外部発表はい
イベント4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014 - Hong Kong, 中国
継続期間: 6 4 20146 7 2014

出版物シリーズ

名前4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014

会議

会議4th Annual IEEE International Conference on Cyber Technology in Automation, Control and Intelligent Systems, IEEE-CYBER 2014
国/地域中国
CityHong Kong
Period6/4/146/7/14

All Science Journal Classification (ASJC) codes

  • 人工知能
  • 情報システム
  • 制御およびシステム工学
  • コンピュータ ネットワークおよび通信

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