Open-source, anthropomorphic, underactuated robot hands with a selectively lockable differential mechanism: Towards affordable prostheses

George P. Kontoudis, Minas V. Liarokapis, Agisilaos G. Zisimatos, Christoforos I. Mavrogiannis, Kostas J. Kyriakopoulos

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

In this paper we present an open-source design for the development of low-complexity, anthropomorphic, underactuated robot hands with a selectively lockable differential mechanism. The differential mechanism used is a variation of the whiffletree (or seesaw) mechanism, which introduces a set of locking buttons that can block the motion of each finger. The proposed design is unique since with a single motor and the proposed differential mechanism the user is able to control each finger independently and switch between different grasping postures in an intuitive manner. Anthropomorphism of robot structure and motion is achieved by employing in the design process an index of anthropomorphism. The proposed robot hands can be easily fabricated using low-cost, off-the-shelf materials and rapid prototyping techniques. The efficacy of the proposed design is validated through different experimental paradigms involving grasping of everyday life objects and execution of daily life activities. The proposed hands can be used as affordable prostheses, helping amputees regain their lost dexterity.

Original languageEnglish (US)
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5857-5862
Number of pages6
ISBN (Electronic)9781479999941
DOIs
StatePublished - Dec 11 2015
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: Sep 28 2015Oct 2 2015

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2015-December
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
Country/TerritoryGermany
CityHamburg
Period9/28/1510/2/15

Keywords

  • Anthropomorphism
  • Differential Mechanisms
  • Robot Hands Design
  • Underactuation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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