On the development of intrinsically-actuated, multisensory dexterous robotic hands

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• 作者：Hong Liu ; Dapeng Yang ; Shaowei Fan ; Hegao Cai
• 关键词：Robotic hand ; Prosthetic hand ; Intrinsic actuation ; Modular design
• 刊名：ROBOMECH Journal
• 出版年：2016
• 出版时间：December 2016
• 年：2016
• 卷：3
• 期：1
• 全文大小：1,034 KB
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• 作者单位：Hong Liu (1)
  Dapeng Yang (1)
  Shaowei Fan (1)
  Hegao Cai (1)
  
  1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, HIT Science Park, No.2 Yikuang Street, Nangang District, P.O. Box 3039, 150080, Harbin, People’s Republic of China
  
• 刊物类别：Robotics and Automation; Mechatronics; Artificial Intelligence (incl. Robotics); Control; Computatio
• 刊物主题：Robotics and Automation; Mechatronics; Artificial Intelligence (incl. Robotics); Control; Computational Intelligence;
• 出版者：Springer International Publishing
• ISSN：2197-4225

文摘

Restoring human hand function by mechatronic means is very challenging in robotics research. In this paper, we first make a brief review on the development of dexterous robotic/prosthetic hands, and then detail our design philosophy of several robot hands. We make a concentration on a type of intrinsically-actuated robot hands, wherein the driving, transmission, and control elements are totally embedded in the hand. According to different application scenarios, we develop robot hands in two parallel lines, dexterous robotic hand and anthropomorphic prosthetic hand. In both, the hand’s actuation, sensing, and control subsystems are highly integrated and modularized. This feature endows our robot hands with compact appearances, simple integration, and large flexibilities. At last, we give some perspectives on the future development of dexterous hands from the aspects of structure, functionality, and control strategies. Keywords Robotic hand Prosthetic hand Intrinsic actuation Modular design