التفاصيل البيبلوغرافية
| العنوان: |
A Low-Cost, Modular, Cable-Driven, Anthropomorphic Robotic Hand: A Conceptual Design and Application in Biomimetic Study. |
| المؤلفون: |
Adejumo, Daniel O., Fadare, David A., Kazeem, Rasaq A., Ikumapayi, Omolayo M., Falana, Ayodeji, Adedayo, Adebayo S., Fadare, Dorcas A., Adeoye, Adeyinka O. M., Ogundipe, Adebayo T., Olarinde, Elisabeta S. |
| المصدر: |
Journal Européen des Systèmes Automatisés; Sep2023, Vol. 56 Issue 4, p627-639, 13p |
| مصطلحات موضوعية: |
ROBOT hands, DEEP reinforcement learning, BIOMIMETICS, REINFORCEMENT learning, CONCEPTUAL design, WRIST, MOTION control devices |
| مصطلحات جغرافية: |
NIGERIA |
| مستخلص: |
The UI Hand I robot is the pioneering development of an anthropomorphic robotic hand for pushing the limits of dynamic biomimetic anthropomorphic robotic hand study in Nigeria. The objective of this research is to develop a truly anthropomorphic hand that captures all the DOF of the hand and can reproduce the dexterity of the human hand. Many robotic hands have been developed so far, but many still lack true anthropomorphism; many have used mechanisms different from those adopted by the human hand, leading to significant deviations both in form and function. Our work aims to improve the fidelity of biomimetic robotic hand design. To this end, we present the conceptual design of a biomimetic, low-cost, modular, cable-driven, tele-operated 26 degrees of freedom anthropomorphic robotic hand. We understudied the biomechanics of important features of the anatomy of the human hand and wrist, developed appropriate mechanical models that mimic the mechanics of these features, and compared them with the CT scan of an actual human hand. The robotic hand's links were designed in Fusion 360 and 3D printed in PLA. The muscles and tendons were modelled as a pulley-cable system using 0.46 mm Spectra® fiber for the tendons, and micro electric motors were used for actuation. A Raspberry Pi 4 was used as the controller, the leap motion controller as the teleoperation device, and Deep Reinforcement Learning was used to learn a suitable control policy. The proposed (UI hand I) anthropomorphic robotic hand and wrist model comprises 29 bones and 17 composite joints with 26 degrees-of-freedom. A total of 80 components were used to model the bones and joints with an estimated weight of 450g. With the addition of the motors, battery and other electrical components, the upper limit of the estimate is 1.2 Kg. The estimated cost of the project is $ 1, 241.80. The research aims to evaluate the robotic hand's dexterity in teleoperation and achieve the full range of poses in the human hand, with potential implications including enhanced automation in spacewalks, construction, industrial operations, and prosthetics. [ABSTRACT FROM AUTHOR] |
|
Copyright of Journal Européen des Systèmes Automatisés is the property of International Information & Engineering Technology Association (IIETA) and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) |
| قاعدة البيانات: |
Complementary Index |
Full Text Finder