Designing Anthropomorphic Robot Hand with Active Dual-Mode Twisted String Actuation Mechanism
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- Опубліковано 4 січ 2017
- In the paper, using the active dual-mode twisted string actuation (TSA) mechanism and tiny tension sensors on the tendon strings, an anthropomorphic robot hand is newly designed in a compact manner. Thanks to the active dual-mode TSA mechanism, which is a miniaturized transmission, the proposed robot hand dose have a wide range of operation in terms of the grasping force and speed. It experimentally produces maximally the fingertip force 31.3 N and minimally the closing time of 0.5 s in average. Also, tiny tension sensor with the dimension of 4.7(width)4.0(height)10.75(length) mm are newly presented and embedded at the fingertips in order to measure the tension on the tendon strings, which would allow the grasping force control. The kinetic and kinematic analyses are performed and the performance is verified by experiments.
sites.google.com/site/seokhwa...
msc.kaist.ac.kr/
Related Reference
[1] S. H. Jeong, K.-S. Kim, and S. Kim, "Development of a Robotic Finger with an Active Dual-mode Twisting Actuation and a Miniature Tendon Tension Sensor," presented at the IEEE International Conference on Advanced and Intelligent Mechatronics, 2016.
[2] S. H. Jeong, K.-S. Kim, and S. Kim, "Designing Anthropomorphic Robot Hand with Active Dual-Mode Twisted String Actuation Mechanism and Tiny Tension Sensors", IEEE Robotics and Automation Letter, 2017
[3] S. H. Jeong, K.-S. Kim, and S. Kim, "Control of and Experimentation on an Active Dual-Mode Twisted String Actuation Mechanism," presented at the IEEE International Conference on Advanced and Intelligent Mechatronics, 2017.
[4] S. H. Jeong, Y. J. Shin and K. S. Kim, "Design and Analysis of the Active Dual-Mode Twisting Actuation Mechanism," in IEEE/ASME Transactions on Mechatronics, vol. PP, no. 99, pp. 1-1 (in press, DOI:10.1109/TMECH.2017.2767783).
you must get an amazing euphoric feeling when you create.👍
try it :)
I love love love it great design very inspiring
Muito bom. Design inspirador.
That's honestly so cool!!!!!
I tried using twisted string in the 90s, but I was worried about where properties. you might try weaving two cables together side-by-side with a third smaller string and then coating it with rubber cement. It should still coil, resist friction and also behave more controlled. It's an amazing effort.! Now if you could train it to listen to someone clicking their tongue quietly they could instruct the hand what to do and it could be completely computer controlled.
Goodwork!
awesome..reinventing the wheel!!
Nice work.
Amazing stuff! Using the references for my masters thesis!
Good job
Very elegant solution. Don't let patent trolls steal it from you.
You inspired me and I brought first position in science exhibition at my school.
congrats
Thanks
Congrats 🎉🎉❤️
Ahmed abdelmonem reyad thanks bro
Shafqat Wasim oy Subhan
Great job guys I'm using a similar design for my project
Any reference or link to your design so we all can learn? Thanks
woowww that's a really good job
The best robot hand
Great prothestic arm
멋지네~석환아 고생했다ㅎ
How many cycles will the 'Tendon actuator' last before it breaks?
Does it sense specific pressure patterns applied to it? When dude was shaking hands with it does it feel it and respond?
what motor(s) are you using for the twisting and therefore motion of the fingers? I'm thinking of doing something similar for a final I have coming up (I'll ofc credit you)...
Nice.
What kind of rope would be suitable for such actuators?
nice
Great
Can you share with me the datasheet of your robot hand ???
metallic screw threads Seem to be very popular
take me on as your student
kira robotics: let me give you a hand.
WOW!!!
Luke Skywalker would be proud
What material are you using for the strings
It is called Spectra or Dynnema
Any sources of T1000?
How much cost will be
설명에 한국말도 써주시면 좋겠네여..ㅠ
great job . is it open-source ?
Thank you.
This is not yet open source. We are aiming to commercialize it by supplementing the technology in the future.
@@msckaist5538 any info about t600?
wow
Lol I thought of this but decided against it. Turned it into something else though
Like what
Why not just use hydraulics?
А на гитаре сыграть?!( Смогет?????!!!!!
Ejjha ügyes
Hanzhen harmonic drive gear , robot arm gear, over 30 years experience
What actuator do they use in the video?
Но как узнать массу и не прикасаясь чтобы не сыграть футбол с замаскированным свинцовым мячом... ... ...🤫🤕👻👺⚡👽
Yes, I would love noisy robot :/
I need someone to create something for me. I dont know how to go about finding someone.
its not cheap, you rather do it yourself
@@francogonzalez1985 its a simple project
I'm so tired of seeing robot hands with only one thumb. Two or three thumbs per hand would be far superior.
I did this with Legos when I was about 8 or 9 y. o..
My point is, it looks good but the lines will break.
Quite lame if its only a gradual on and off...
Too slow and too heavy