An anthropomorphic underactuated robotic hand with 15 dofs and a single actuator Export

@inproceedings{Ref_hand_gosselin_pelletier, abstract = {This paper presents the design and experimental validation of an anthropomorphic underactuated robotic hand with 15 degrees of freedom and a single actuator. First, the force transmission design of underactuated fingers is revisited. An optimal geometry of the tendon-driven fingers is then obtained. Then, underactuation between the fingers is addressed using differential mechanisms. Tendon routings are proposed and verified experimentally. Finally, a prototype of a 15-degree-of-freedom hand is built and tested. The results demonstrate the feasibility of a humanoid hand with many degrees of freedom and one single degree of actuation.}, author = {Gosselin, Clement and Pelletier, Frederic and Laliberte, Thierry}, booktitle = {Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on}, citeulike-article-id = {2931174}, citeulike-linkout-0 = {http://dx.doi.org/10.1109/ROBOT.2008.4543295}, citeulike-linkout-1 = {http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=4543295}, doi = {10.1109/ROBOT.2008.4543295}, journal = {Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on}, keywords = {lab-article, main-robotique, underactuated}, pages = {749--754}, posted-at = {2008-09-11 20:26:45}, priority = {5}, title = {An anthropomorphic underactuated robotic hand with 15 dofs and a single actuator}, url = {http://dx.doi.org/10.1109/ROBOT.2008.4543295}, year = {2008} }

TY - CONF ID - Ref_hand_gosselin_pelletier L3 - citeulike-article-id:2931174 N2 - This paper presents the design and experimental validation of an anthropomorphic underactuated robotic hand with 15 degrees of freedom and a single actuator. First, the force transmission design of underactuated fingers is revisited. An optimal geometry of the tendon-driven fingers is then obtained. Then, underactuation between the fingers is addressed using differential mechanisms. Tendon routings are proposed and verified experimentally. Finally, a prototype of a 15-degree-of-freedom hand is built and tested. The results demonstrate the feasibility of a humanoid hand with many degrees of freedom and one single degree of actuation. JF - Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on EP - 754 TI - An anthropomorphic underactuated robotic hand with 15 dofs and a single actuator T2 - Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on SP - 749 KW - lab-article KW - main-robotique KW - underactuated AU - Gosselin, Clement AU - Pelletier, Frederic AU - Laliberte, Thierry PY - 2008/// UR - http://dx.doi.org/10.1109/ROBOT.2008.4543295 ER -