Abstract
To realize the adaptive grasping of different objects and capture the joint angles of the finger, this paper presents a multi degree of freedom (DOF) adaptive finger. There are three joints in the designed finger. The maximum rotation angle of the finger joints are 90°. And the bending angles of the finger joints can be captured. First, the mechanism design and analysis of the measurement theory are described in detail. Then, we introduce the measurement circuit and analyze the measurement error. Joint angle testing and object grasping experiments are conducted to verify the validity of the designed finger. The experimental result shows that the root-mean-square (RMS) of the finger joint angle measurement error is 0.79°. The designed finger can realize the adaptive grasping of the objects with different shape.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Ren, Z.: HERI II: a robust and flexible robotic hand based on modular finger design and under actuation principles. In: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE (2018)
Wu, C., Song, A., Zhang, H., et al.: A backstepping control strategy for prosthetic hand based on fuzzy observation of stiffness. Robot 35(6), 686 (2013)
Van, D., Bongers, R., Sluis, C.: Functionality of i-LIMB and i-LIMB pulse hands: case report. J. Rehabil. Res. Dev. 50(8), 1123 (2013)
Dang, L., Song, J., Wei, Y., et al.: COSA-LET finger: a novel coupled and self-adaptive robot finger with a linear empty-trip transmission. In: International Conference on Advanced Robotics & Mechatronics. IEEE (2018)
Belter, J., Segil, J., Dollar, A.: Mechanical design and performance specifications of anthropomorphic prosthetic hands: a review. J. Rehabil. Res. Dev 50(5), 599 (2013)
Zhang, T., Fan, S., Jiang, L., et al.: Design and control of a multisensory five-finger prosthetic hand. In: Proceedings of the World Congress on Intelligent Control and Automation (WCICA) (2015)
Li, X., Wu, L., Lan, T.: A 3D-printed robot hand with three linkage-driven underactuated fingers. Int. J. Autom. Comput. 15(5), 593–602 (2018)
Liu, C., Chen, T., Chiu, C., et al.: Optimal design of a soft robotic gripper for grasping unknown objects. Soft Robot. 5(4), 452–465 (2018)
Wu, C., Fei, F., Xie, M., et al.: Mechanical-sensor integrated finger for prosthetic hand. In: IEEE International Conference on Robotics and Biomimetics (2018, In press)
Venter, J., Mazid, A.: Tactile sensor based intelligent grasping system. In: IEEE International Conference on Mechatronics (2017)
Luberto, E., Wu, Y., Santaera, G., et al.: Enhancing adaptive grasping through a simple sensor-based reflex mechanism. IEEE Robot. Autom. Lett. 2(3), 1664–1671 (2017)
Wookeun, P., Kyongkwan, R., Suin, K., et al.: A soft sensor-based three-dimensional (3-D) finger motion measurement system. Sensors 17(2), 420 (2017)
Othman, A., Hamzah, N., Hussain, Z., et al.: Design and development of an adjustable angle sensor based on rotary potentiometer for measuring finger flexion. In: IEEE International Conference on Control System. IEEE (2017)
Acknowledgement
This paper is supported by the National Science Foundation of China under Grant No. 61803201, 91648206. Jiangsu Natural Science Foundation under Grant No. BK20170803. Young Teacher Startup Foundation of Nanjing University of Aeronautics and Astronautics under Grant No. 56YAH17027. The Fundamental Research Funds for the Central Universities, No. NS2018023.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Wu, C. et al. (2019). Designer of a Multi-DOF Adaptive Finger for Prosthetic Hand. In: Yu, H., Liu, J., Liu, L., Ju, Z., Liu, Y., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2019. Lecture Notes in Computer Science(), vol 11741. Springer, Cham. https://doi.org/10.1007/978-3-030-27532-7_55
Download citation
DOI: https://doi.org/10.1007/978-3-030-27532-7_55
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-27531-0
Online ISBN: 978-3-030-27532-7
eBook Packages: Computer ScienceComputer Science (R0)