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Integrated linkage-driven dexterous anthropomorphic robotic hand
Robotic hands perform several amazing functions similar to the human hands, thereby offering high flexibility in terms of the tasks performed. However, developing integrated hands without additional actuation parts while maintaining important functions such as human-level dexterity and grasping forc...
Autores principales: | , , , , , , , , |
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Formato: | Online Artículo Texto |
Lenguaje: | English |
Publicado: |
Nature Publishing Group UK
2021
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Materias: | |
Acceso en línea: | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8671524/ https://www.ncbi.nlm.nih.gov/pubmed/34907178 http://dx.doi.org/10.1038/s41467-021-27261-0 |
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author | Kim, Uikyum Jung, Dawoon Jeong, Heeyoen Park, Jongwoo Jung, Hyun-Mok Cheong, Joono Choi, Hyouk Ryeol Do, Hyunmin Park, Chanhun |
author_facet | Kim, Uikyum Jung, Dawoon Jeong, Heeyoen Park, Jongwoo Jung, Hyun-Mok Cheong, Joono Choi, Hyouk Ryeol Do, Hyunmin Park, Chanhun |
author_sort | Kim, Uikyum |
collection | PubMed |
description | Robotic hands perform several amazing functions similar to the human hands, thereby offering high flexibility in terms of the tasks performed. However, developing integrated hands without additional actuation parts while maintaining important functions such as human-level dexterity and grasping force is challenging. The actuation parts make it difficult to integrate these hands into existing robotic arms, thus limiting their applicability. Based on a linkage-driven mechanism, an integrated linkage-driven dexterous anthropomorphic robotic hand called ILDA hand, which integrates all the components required for actuation and sensing and possesses high dexterity, is developed. It has the following features: 15-degree-of-freedom (20 joints), a fingertip force of 34N, compact size (maximum length: 218 mm) without additional parts, low weight of 1.1 kg, and tactile sensing capabilities. Actual manipulation tasks involving tools used in everyday life are performed with the hand mounted on a commercial robot arm. |
format | Online Article Text |
id | pubmed-8671524 |
institution | National Center for Biotechnology Information |
language | English |
publishDate | 2021 |
publisher | Nature Publishing Group UK |
record_format | MEDLINE/PubMed |
spelling | pubmed-86715242022-01-04 Integrated linkage-driven dexterous anthropomorphic robotic hand Kim, Uikyum Jung, Dawoon Jeong, Heeyoen Park, Jongwoo Jung, Hyun-Mok Cheong, Joono Choi, Hyouk Ryeol Do, Hyunmin Park, Chanhun Nat Commun Article Robotic hands perform several amazing functions similar to the human hands, thereby offering high flexibility in terms of the tasks performed. However, developing integrated hands without additional actuation parts while maintaining important functions such as human-level dexterity and grasping force is challenging. The actuation parts make it difficult to integrate these hands into existing robotic arms, thus limiting their applicability. Based on a linkage-driven mechanism, an integrated linkage-driven dexterous anthropomorphic robotic hand called ILDA hand, which integrates all the components required for actuation and sensing and possesses high dexterity, is developed. It has the following features: 15-degree-of-freedom (20 joints), a fingertip force of 34N, compact size (maximum length: 218 mm) without additional parts, low weight of 1.1 kg, and tactile sensing capabilities. Actual manipulation tasks involving tools used in everyday life are performed with the hand mounted on a commercial robot arm. Nature Publishing Group UK 2021-12-14 /pmc/articles/PMC8671524/ /pubmed/34907178 http://dx.doi.org/10.1038/s41467-021-27261-0 Text en © The Author(s) 2021 https://creativecommons.org/licenses/by/4.0/Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/ (https://creativecommons.org/licenses/by/4.0/) . |
spellingShingle | Article Kim, Uikyum Jung, Dawoon Jeong, Heeyoen Park, Jongwoo Jung, Hyun-Mok Cheong, Joono Choi, Hyouk Ryeol Do, Hyunmin Park, Chanhun Integrated linkage-driven dexterous anthropomorphic robotic hand |
title | Integrated linkage-driven dexterous anthropomorphic robotic hand |
title_full | Integrated linkage-driven dexterous anthropomorphic robotic hand |
title_fullStr | Integrated linkage-driven dexterous anthropomorphic robotic hand |
title_full_unstemmed | Integrated linkage-driven dexterous anthropomorphic robotic hand |
title_short | Integrated linkage-driven dexterous anthropomorphic robotic hand |
title_sort | integrated linkage-driven dexterous anthropomorphic robotic hand |
topic | Article |
url | https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8671524/ https://www.ncbi.nlm.nih.gov/pubmed/34907178 http://dx.doi.org/10.1038/s41467-021-27261-0 |
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