Dexterous Hand Control Through Fascicular Targeting (HAPTIX-DEFT)
نویسندگان
چکیده
منابع مشابه
Control Architecture for a Novel Dexterous Hand
The paper presents a control architecture for grasping task of a novel dexterous hand whose 9 DOFs are actuated by a single-motor-driven actuator through 18 clutches. The architecture highlights the use of microprocessors for real-time control of the multifingered hand. The controller and sensors used in the control system of the hand are also described, which are especially effective to suitab...
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In recent years numerous robot systems with multifingered grippers or hands have been developed all around the world. Many different approaches have been taken, anthropomorphic and non-anthropomorphic ones. Not only the mechanical structure of such systems was investigated, but also the necessary control system. With the human hand as an exemplar, such robot systems use their hands to grasp div...
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Nonholonomic constraints in robotic systems are the source of some di culties in planning and control; however, they also introduce interesting properties that can be practically exploited. In this paper we consider the design of a robot hand that achieves dexterity (i.e., the ability to arbitrarily locate and reorient manipulated objects) through rolling. Some interesting issues arising in pla...
متن کاملKinematic Analysis of a Dexterous Hand
Handling of objects with irregular shapes and that of flexible/soft objects by ordinary robot grippers is difficult. Multi fingered gripper may be a solution to such handling tasks. However, dexterous grippers will be the appropriate solution to such problems. Although it is possible to develop robotic hands which can be very closely mapped to human hands, it is sometimes not to be done due to ...
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ژورنال
عنوان ژورنال: The Journal of Hand Surgery
سال: 2017
ISSN: 0363-5023
DOI: 10.1016/j.jhsa.2017.06.030