A highly-underactuated robotic hand with force and joint angle sensors
Long Wang; Joseph Jeffrey DelPreto; Jonathan Weisz; Sam Bhattacharyya; Peter K. Allen
- A highly-underactuated robotic hand with force and joint angle sensors
DelPreto, Joseph Jeffrey
Allen, Peter K.
- Computer Science
- Permanent URL:
- Book/Journal Title:
- Proceedings: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: September 25-30, 2011, San Francisco, California, USA
- Publisher Location:
- Piscataway, N.J.
- This paper describes a novel underactuated robotic hand design. The hand is highly underactuated as it contains three fingers with three joints each controlled by a single motor. One of the fingers ("thumb") can also be rotated about the base of the hand, yielding a total of two controllable degrees-of-freedom. A key component of the design is the addition of position and tactile sensors which provide precise angle feedback and binary force feedback. Our mechanical design can be analyzed theoretically to predict contact forces as well as hand position given a particular object shape.
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