기능형 의수를 위한 텐스그리티 관절 구조 기반의 유연하고 가벼운 로봇 핸드 개발
Development of Flexible and Lightweight Robotic Hand with Tensegrity-Based Joint Structure for Functional Prosthesis
2
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
This paper presents an under-actuated robotic hand inspired by the ligamentous structure of the human hand for a prosthetic application. The joint mechanisms are based on the concept of a tensegrity structure formed by elastic strings. These rigid bodies and elastic strings in the mechanism emulate the phalanx bones and primary ligaments found in human finger joints. As a result, the proposed hand inherently possesses compliant characteristics, ensuring robust adaptability during grasping and when interacting with physical environments. For the practical implementation of the tensegrity-based joint mechanism, we detail the installation of the strings and the routing of the driving tendon, which are related to extension and flexion, respectively. Additionally, we have designed the palm structure of the proposed hand to facilitate opposition and tripod grips between the fingers and thumb, taking into account the transverse arch of the human palm. In conclusion, we tested a prototype of the proposed hand to evaluate its motion and grasping capabilities.
Abstract
This paper presents an under-actuated robotic hand inspired by the ligamentous structure of the human hand for a prosthetic application. The joint mechanisms are based on the concept of a tensegrity structure formed by elastic strings. These rigid bodies and elastic strings in the mechanism emulate the phalanx bones and primary ligaments found in human finger joints. As a result, the proposed hand inherently possesses compliant characteristics, ensuring robust adaptability during grasping and when interacting with physical environments. For the practical implementation of the tensegrity-based joint mechanism, we detail the installation of the strings and the routing of the driving tendon, which are related to extension and flexion, respectively. Additionally, we have designed the palm structure of the proposed hand to facilitate opposition and tripod grips between the fingers and thumb, taking into account the transverse arch of the human palm. In conclusion, we tested a prototype of the proposed hand to evaluate its motion and grasping capabilities.
참고문헌 (16)
- G. Kumar, "Machine Learning-Based Framework to Predict Finger Movement for Prosthetic Hand", IEEE Sensors Letters, 6(6), pp.1~4 (2022)[DOI]
- Q. Luo, "Evaluation of Model-Based Biomimetic Control of Prosthetic Finger Force for Grasp", IEEE Transactions on Neural Systems and Rehabilitation Engineering, 29, pp.1723~1733 (2021)[DOI]
- M. Cheng, "Development of a Multisensory Underactuated Prosthetic Hand With Fully Integrated Electronics", IEEE, 2023, pp.28(2), 1187~1198
- L. Liow, "OLYMPIC : A Modular, Tendon-Driven Prosthetic Hand With Novel Finger and Wrist Coupling Mechanisms", IEEE Robotics and Automation Letters, 5(2), pp.299~306 (2020)[DOI]
- L. Jiang, "A Modular Multisensory Prosthetic Hand", 2014 IEEE International Conference on Information and Automation(ICIA), pp.648~653 (2014)
- J. Fajardo, "An Affordable Open-Source Multifunctional Upper-Limb Prosthesis with Intrinsic Actuation", 2017 IEEE Workshop on Advanced Robotics and its Social Impacts(ARSO), pp.1~6 (2017)
- M. V. Liarokapis, "Open-Source, Low-Cost, Compliant, Modular, Underactuated Fingers : Towards Affordable Prostheses for Partial Hand Amputations", 2014 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.2541~2544 (2014)
- M. Quigley, "Mechatronic design of an integrated robotic hand", The International Journal of Robotics Research, 33(5), pp.706~720 (2014)[DOI]
- C. D. Santina, "Toward Dexterous Manipulation with Augmented Adaptive Synergies : The Pisa", IIT SoftHand 2, 2018, pp.34(5), 1141~1156
- P. Wattanasiri, "Design of Multi-Grip Patterns Prosthetic Hand With Single Actuator", IEEE Transactions on Neural Systems and Rehabilitation Engineering, 26(6), pp.1188~1198 (2018)[DOI]
- G. Lee, "Tendon-driven Compliant Prosthetic Wrist Consisting of Three Rows Based on the Concept of Tensegrity Structure", IEEE Robotics and Automation Letters, 6(2), pp.3956~3963 (2021)[DOI]
- G. Lee, "Design of Compliant Hinge Joints inspired by Ligamentous Structure", Journal of Korea Robotics Society, 14(4), pp.237~244 (2019)[DOI]
- H. Son, "Underactuated Tendondriven Finger Design with Bio-inspired Ligamentous Joint Mechanism", 2018 IEEE International Conference on Cyborg and Bionic Systems(CBS), pp.171~176 (2018)
- M. L. Zampagni, "Trend of the Carrying Angle During Flexion-Extension of the Elbow Joint: A Pilot Study", Orthopedics, 31(1) (2008)[DOI]
- A. L. Ladd, "The Thumb Carpometacarpal Joint : Anatomy, Hormones, and Biomechanics", Instructional Course Lectures, 62, pp.165~179 (2013)