Development of an anthropomorphic robot hand and wrist for teleoperation applications

M.A. Saliba, D. Camilleri, M.J. Farrugia

Research output: Contribution to conferencePaper

Abstract

In this work, we are developing an anthropomorphic robot hand and wrist to be teleoperated by a human using a glove input device. The present model of the hand is intended for use in grasping operations, and consists of a palm, two fingers, an opposed thumb, and two wrist joints that provide pitch and roll movements. Each of the three digits of the robot hand has two pitch joints to enable flexion and extension, and incorporates a new passive switching mechanism that allows a single actuator to drive the two joints successively. The hand/wrist system has a total of five independent degrees-of-freedom. It is driven by five remotely located DC motors through servo control, and the drive from the motors is transmitted to the hand and wrist joints through flexible sheathed cables acting as tendons. The work focuses on replicating as closely as possible the shape, size, natural motions and applied forces of the human appendage, while keeping the complexity of the robot hand and wrist to a minimum. The first prototype of the hand has been demonstrated, and is capable of holding a wide variety of objects of different shapes and sizes using both precision-type and power-type grasp configurations.
Original languageEnglish
Pages203-208
Number of pages5
Publication statusPublished - Dec 2005
EventProceedings of the IEEE International Conference on Information and Automation - Colombo, Sri Lanka
Duration: 15 Dec 200518 Dec 2005

Conference

ConferenceProceedings of the IEEE International Conference on Information and Automation
CityColombo, Sri Lanka
Period15/12/0518/12/05

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Keywords

  • robotics
  • mechanics
  • engineering
  • automation

Cite this

Saliba, M. A., Camilleri, D., & Farrugia, M. J. (2005). Development of an anthropomorphic robot hand and wrist for teleoperation applications. 203-208. Paper presented at Proceedings of the IEEE International Conference on Information and Automation, Colombo, Sri Lanka, .