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29 views

Project Summary

Uploaded by

api-586353938
Copyright
© © All Rights Reserved
Available Formats
Download as DOCX, PDF, TXT or read online on Scribd
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PROJECT SUMMARY

Human hands are able to grasp, manipulate, touch, explore and differentiate physical
properties. Is for that reason, that experts are interested in develop robotic human hands with
this type capabilities with the use of effectors, sensing equipment and control strategies.

First of all, is necessary to know two basic concepts about robotic hands, anthropomorphism
and dexterous. Anthropomorphism is the ability of the robotic hands to resemble the
appearance of a human hand, in terms of shape, size and aspect. And dexterous is the ability
of it to emulate the functions of human hands. In relation to design, experts have a great
variety of options to solve the requirements, but only the most significant appear in the
presentation, different types of Actuators Placement and Motion Transmission (Direct-drive
actuation, link-hosted actuation, Remote Actuation, Flexible Link Transmission, Rigid Link
Transmission), and the different Actuation Architectures (Single-acting actuators and Double-
acting actuators). In the sensors and actuators section, the actuators and different sensors are
explained, talking about the different sensors based on their functions, differentiating four
categories, Joint Position/Velocity Sensors, Tendon Tension Sensor and Joint Torque Sensor,
Finger Tip Tactile (or Force) Sensors and Tactile Sensors. In terms of modelling and control of a
robot hands, it is necessary to know, that to operate with a multifingered hand, experts have
to deal with numerous problems, which are solved with a great design of the model and the
control, studying the Dynamic Effects of Flexible Transmission Systems, the Transmission
Model of Tendon-Outer-Tube System and the Control through Single-Acting actuators. To
finish, some applications are given, but taking into account that developing a robotic
multifingered hand is very expensive, it is logical to understand that the hands that are
currently being developed are simpler and perform more specific functions, less resembling
real hands.

To conclude, it is obvious, that make a robotic multifingered hand, is a truly complex challenge
for the experts, but a great effort and investment is being made to develop this idea due to the
advantages that it can bring.

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