TY - GEN
T1 - Open-source, anthropomorphic, underactuated robot hands with a selectively lockable differential mechanism
T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
AU - Kontoudis, George P.
AU - Liarokapis, Minas V.
AU - Zisimatos, Agisilaos G.
AU - Mavrogiannis, Christoforos I.
AU - Kyriakopoulos, Kostas J.
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/12/11
Y1 - 2015/12/11
N2 - 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.
AB - 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.
KW - Anthropomorphism
KW - Differential Mechanisms
KW - Robot Hands Design
KW - Underactuation
UR - http://www.scopus.com/inward/record.url?scp=84958184336&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84958184336&partnerID=8YFLogxK
U2 - 10.1109/IROS.2015.7354209
DO - 10.1109/IROS.2015.7354209
M3 - Conference contribution
AN - SCOPUS:84958184336
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 5857
EP - 5862
BT - IROS Hamburg 2015 - Conference Digest
PB - Institute of Electrical and Electronics Engineers Inc.
Y2 - 28 September 2015 through 2 October 2015
ER -