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.

Conference

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

Fingerprint

Anthropomorphic robots
End effectors
Remote control
Robots
DC motors
Tendons
Cables
Actuators

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, .
Saliba, M.A. ; Camilleri, D. ; Farrugia, M.J. / Development of an anthropomorphic robot hand and wrist for teleoperation applications. Paper presented at Proceedings of the IEEE International Conference on Information and Automation, Colombo, Sri Lanka, .5 p.
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author = "M.A. Saliba and D. Camilleri and M.J. Farrugia",
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Saliba, MA, Camilleri, D & Farrugia, MJ 2005, 'Development of an anthropomorphic robot hand and wrist for teleoperation applications' Paper presented at Proceedings of the IEEE International Conference on Information and Automation, Colombo, Sri Lanka, 15/12/05 - 18/12/05, pp. 203-208.

Development of an anthropomorphic robot hand and wrist for teleoperation applications. / Saliba, M.A.; Camilleri, D.; Farrugia, M.J.

2005. 203-208 Paper presented at Proceedings of the IEEE International Conference on Information and Automation, Colombo, Sri Lanka, .

Research output: Contribution to conferencePaper

TY - CONF

T1 - Development of an anthropomorphic robot hand and wrist for teleoperation applications

AU - Saliba, M.A.

AU - Camilleri, D.

AU - Farrugia, M.J.

PY - 2005/12

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N2 - 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.

AB - 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.

KW - robotics

KW - mechanics

KW - engineering

KW - automation

UR - http://www.eng.um.edu.mt/~masali/publications/ICIA2005.pdf Full-text of this paper

M3 - Paper

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ER -

Saliba MA, Camilleri D, Farrugia MJ. Development of an anthropomorphic robot hand and wrist for teleoperation applications. 2005. Paper presented at Proceedings of the IEEE International Conference on Information and Automation, Colombo, Sri Lanka, .