Modular, Underactuated Anthropomorphic Robot Hand with Flexible Fingers and Twisted String Actuators

Muhammad Faiz  Rahman; Kaiqiang Zhang; Guido Herrmann

doi:10.1007/978-3-030-25332-5_47

Modular, Underactuated Anthropomorphic Robot Hand with Flexible Fingers and Twisted String Actuators

Muhammad Faiz Rahman, Kaiqiang Zhang, Guido Herrmann

Department of Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

2 Citations (Scopus)

237 Downloads (Pure)

Abstract

For general grasping, a strong lightweight and compact robot hand needs to be designed as a robot end effector. This paper describes the design of a 3D printed anthropomorphic robot hand that actuates flexible fingers using Twisted String Actuators (TSAs). A total of 6 of these actuators were fitted within a limited confined space, the palm of the hand. This gives the hand 6 Degrees of Freedom (DOFs) 2 in the thumb and 1 in each of the other fingers. A simple modular design was used which allows for rapid prototyping of different finger designs with respect to different requirements at low cost. In this paper, only power grasping is considered for simplicity. The hand is capable of performing
both spherical and cylindrical grasps whereby the flexible nature of the fingers allows for forming around the geometry of a target object. The maximum holding load of the hand was found to be 10 kg in performance tests.

Original language	English
Title of host publication	TAROS 2019
Subtitle of host publication	Towards Autonomous Robotic Systems
Editors	Kaspar Althoefer, Jelizaveta Konstantinova, Ketao Zhang
Publisher	Springer
Pages	489-492
Number of pages	4
ISBN (Electronic)	978-3-030-25332-5
ISBN (Print)	978-3-030-25331-8
DOIs	https://doi.org/10.1007/978-3-030-25332-5_47
Publication status	E-pub ahead of print - 17 Jul 2019
Event	Towards Autonomous Robotic Systems (TAROS 2019) - Queen Mary, Queen Mary University of London, London, United Kingdom Duration: 3 Jul 2019 → 5 Jul 2019 Conference number: 20 https://www.qmul.ac.uk/robotics/events/taros2019/

Publication series

Name	Lecture Notes in Artificial Intelligence
Publisher	Springer, Cham
Volume	11650
ISSN (Print)	0302-9743
ISSN (Electronic)	1611-3349

Name	Lecture Notes in Computer Science
Publisher	Springer, Chem
Volume	11650
ISSN (Print)	0302-9743

Conference

Conference	Towards Autonomous Robotic Systems (TAROS 2019)
Abbreviated title	TAROS 2019
Country/Territory	United Kingdom
City	London
Period	3/07/19 → 5/07/19
Internet address	https://www.qmul.ac.uk/robotics/events/taros2019/

Keywords

Anthropomorphic robot hand
Flexible fingers
Additive manufacturing
Twisted string actuators

Access to Document

10.1007/978-3-030-25332-5_47

Full-text PDF (accepted author manuscript)
This is the author accepted manuscript (AAM). The final published version (version of record) is available online via Springer Nature at https://link.springer.com/chapter/10.1007%2F978-3-030-25332-5_47. Please refer to any applicable terms of use of the publisher.
Accepted author manuscript, 1.2 MB

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Rahman, M. F., Zhang, K., & Herrmann, G. (2019). Modular, Underactuated Anthropomorphic Robot Hand with Flexible Fingers and Twisted String Actuators. In K. Althoefer, J. Konstantinova, & K. Zhang (Eds.), TAROS 2019: Towards Autonomous Robotic Systems (pp. 489-492). (Lecture Notes in Artificial Intelligence; Vol. 11650), (Lecture Notes in Computer Science; Vol. 11650). Springer. Advance online publication. https://doi.org/10.1007/978-3-030-25332-5_47

Rahman, Muhammad Faiz ; Zhang, Kaiqiang ; Herrmann, Guido. / Modular, Underactuated Anthropomorphic Robot Hand with Flexible Fingers and Twisted String Actuators. TAROS 2019: Towards Autonomous Robotic Systems. editor / Kaspar Althoefer ; Jelizaveta Konstantinova ; Ketao Zhang. Springer, 2019. pp. 489-492 (Lecture Notes in Artificial Intelligence). (Lecture Notes in Computer Science).

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title = "Modular, Underactuated Anthropomorphic Robot Hand with Flexible Fingers and Twisted String Actuators",

abstract = "For general grasping, a strong lightweight and compact robot hand needs to be designed as a robot end effector. This paper describes the design of a 3D printed anthropomorphic robot hand that actuates flexible fingers using Twisted String Actuators (TSAs). A total of 6 of these actuators were fitted within a limited confined space, the palm of the hand. This gives the hand 6 Degrees of Freedom (DOFs) 2 in the thumb and 1 in each of the other fingers. A simple modular design was used which allows for rapid prototyping of different finger designs with respect to different requirements at low cost. In this paper, only power grasping is considered for simplicity. The hand is capable of performingboth spherical and cylindrical grasps whereby the flexible nature of the fingers allows for forming around the geometry of a target object. The maximum holding load of the hand was found to be 10 kg in performance tests.",

keywords = "Anthropomorphic robot hand, Flexible fingers, Additive manufacturing, Twisted string actuators",

author = "Rahman, {Muhammad Faiz} and Kaiqiang Zhang and Guido Herrmann",

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booktitle = "TAROS 2019",

note = "Towards Autonomous Robotic Systems (TAROS 2019) , TAROS 2019 ; Conference date: 03-07-2019 Through 05-07-2019",

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Rahman, MF, Zhang, K & Herrmann, G 2019, Modular, Underactuated Anthropomorphic Robot Hand with Flexible Fingers and Twisted String Actuators. in K Althoefer, J Konstantinova & K Zhang (eds), TAROS 2019: Towards Autonomous Robotic Systems. Lecture Notes in Artificial Intelligence, vol. 11650, Lecture Notes in Computer Science, vol. 11650, Springer, pp. 489-492, Towards Autonomous Robotic Systems (TAROS 2019) , London, United Kingdom, 3/07/19. https://doi.org/10.1007/978-3-030-25332-5_47

Modular, Underactuated Anthropomorphic Robot Hand with Flexible Fingers and Twisted String Actuators. / Rahman, Muhammad Faiz ; Zhang, Kaiqiang; Herrmann, Guido.
TAROS 2019: Towards Autonomous Robotic Systems. ed. / Kaspar Althoefer; Jelizaveta Konstantinova; Ketao Zhang. Springer, 2019. p. 489-492 (Lecture Notes in Artificial Intelligence; Vol. 11650), (Lecture Notes in Computer Science; Vol. 11650).

Research output: Chapter in Book/Report/Conference proceeding › Conference Contribution (Conference Proceeding)

TY - GEN

T1 - Modular, Underactuated Anthropomorphic Robot Hand with Flexible Fingers and Twisted String Actuators

AU - Rahman, Muhammad Faiz

AU - Zhang, Kaiqiang

AU - Herrmann, Guido

N1 - Conference code: 20

PY - 2019/7/17

Y1 - 2019/7/17

N2 - For general grasping, a strong lightweight and compact robot hand needs to be designed as a robot end effector. This paper describes the design of a 3D printed anthropomorphic robot hand that actuates flexible fingers using Twisted String Actuators (TSAs). A total of 6 of these actuators were fitted within a limited confined space, the palm of the hand. This gives the hand 6 Degrees of Freedom (DOFs) 2 in the thumb and 1 in each of the other fingers. A simple modular design was used which allows for rapid prototyping of different finger designs with respect to different requirements at low cost. In this paper, only power grasping is considered for simplicity. The hand is capable of performingboth spherical and cylindrical grasps whereby the flexible nature of the fingers allows for forming around the geometry of a target object. The maximum holding load of the hand was found to be 10 kg in performance tests.

AB - For general grasping, a strong lightweight and compact robot hand needs to be designed as a robot end effector. This paper describes the design of a 3D printed anthropomorphic robot hand that actuates flexible fingers using Twisted String Actuators (TSAs). A total of 6 of these actuators were fitted within a limited confined space, the palm of the hand. This gives the hand 6 Degrees of Freedom (DOFs) 2 in the thumb and 1 in each of the other fingers. A simple modular design was used which allows for rapid prototyping of different finger designs with respect to different requirements at low cost. In this paper, only power grasping is considered for simplicity. The hand is capable of performingboth spherical and cylindrical grasps whereby the flexible nature of the fingers allows for forming around the geometry of a target object. The maximum holding load of the hand was found to be 10 kg in performance tests.

KW - Anthropomorphic robot hand

KW - Flexible fingers

KW - Additive manufacturing

KW - Twisted string actuators

U2 - 10.1007/978-3-030-25332-5_47

DO - 10.1007/978-3-030-25332-5_47

M3 - Conference Contribution (Conference Proceeding)

SN - 978-3-030-25331-8

T3 - Lecture Notes in Artificial Intelligence

SP - 489

EP - 492

BT - TAROS 2019

A2 - Althoefer, Kaspar

A2 - Konstantinova, Jelizaveta

A2 - Zhang, Ketao

PB - Springer

T2 - Towards Autonomous Robotic Systems (TAROS 2019)

Y2 - 3 July 2019 through 5 July 2019

ER -

Rahman MF, Zhang K, Herrmann G. Modular, Underactuated Anthropomorphic Robot Hand with Flexible Fingers and Twisted String Actuators. In Althoefer K, Konstantinova J, Zhang K, editors, TAROS 2019: Towards Autonomous Robotic Systems. Springer. 2019. p. 489-492. (Lecture Notes in Artificial Intelligence). (Lecture Notes in Computer Science). Epub 2019 Jul 17. doi: 10.1007/978-3-030-25332-5_47

Modular, Underactuated Anthropomorphic Robot Hand with Flexible Fingers and Twisted String Actuators

Abstract

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Keywords

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