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Scalable Fabrication and Actuation of a Human Inspired Hand Through 3D Printed Flexures and Combinatorial Actuation

The fabrication and control of robot hands with biologically inspired structure remains challenging due to its cost and complexity. In this paper we explore how widely available FDM printers can be used to fabricate complex hand structures by leveraging compliant PLA flexures. In particular, we focu...

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Detalles Bibliográficos
Autores principales: Bosio, Carlo, Junge, Kai, Hughes, Josie
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Frontiers Media S.A. 2022
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9260052/
https://www.ncbi.nlm.nih.gov/pubmed/35813854
http://dx.doi.org/10.3389/frobt.2022.878111
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author Bosio, Carlo
Junge, Kai
Hughes, Josie
author_facet Bosio, Carlo
Junge, Kai
Hughes, Josie
author_sort Bosio, Carlo
collection PubMed
description The fabrication and control of robot hands with biologically inspired structure remains challenging due to its cost and complexity. In this paper we explore how widely available FDM printers can be used to fabricate complex hand structures by leveraging compliant PLA flexures. In particular, we focus on the fabrication of fingers printed as a single piece with tunable compliance, a multi degree of freedom thumb joint, and sensorized compliant fingertips. To address the challenge of control and actuation, we model the behavior of the flexure joints and propose a new method for control: combinatorial actuation. This control method combines the use of a single continuous actuated tendon per finger with two shared “combinatorial” actuators which act across all fingers. We demonstrate that the fingertip workspace using this method is comparable to fully actuated fingers while using significantly less independent actuators. The proposed approach of fabrication and combinatorial actuation provides a rapid and scalable method of designing and controlling complex manipulators.
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spelling pubmed-92600522022-07-08 Scalable Fabrication and Actuation of a Human Inspired Hand Through 3D Printed Flexures and Combinatorial Actuation Bosio, Carlo Junge, Kai Hughes, Josie Front Robot AI Robotics and AI The fabrication and control of robot hands with biologically inspired structure remains challenging due to its cost and complexity. In this paper we explore how widely available FDM printers can be used to fabricate complex hand structures by leveraging compliant PLA flexures. In particular, we focus on the fabrication of fingers printed as a single piece with tunable compliance, a multi degree of freedom thumb joint, and sensorized compliant fingertips. To address the challenge of control and actuation, we model the behavior of the flexure joints and propose a new method for control: combinatorial actuation. This control method combines the use of a single continuous actuated tendon per finger with two shared “combinatorial” actuators which act across all fingers. We demonstrate that the fingertip workspace using this method is comparable to fully actuated fingers while using significantly less independent actuators. The proposed approach of fabrication and combinatorial actuation provides a rapid and scalable method of designing and controlling complex manipulators. Frontiers Media S.A. 2022-06-23 /pmc/articles/PMC9260052/ /pubmed/35813854 http://dx.doi.org/10.3389/frobt.2022.878111 Text en Copyright © 2022 Bosio, Junge and Hughes. https://creativecommons.org/licenses/by/4.0/This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner(s) are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
spellingShingle Robotics and AI
Bosio, Carlo
Junge, Kai
Hughes, Josie
Scalable Fabrication and Actuation of a Human Inspired Hand Through 3D Printed Flexures and Combinatorial Actuation
title Scalable Fabrication and Actuation of a Human Inspired Hand Through 3D Printed Flexures and Combinatorial Actuation
title_full Scalable Fabrication and Actuation of a Human Inspired Hand Through 3D Printed Flexures and Combinatorial Actuation
title_fullStr Scalable Fabrication and Actuation of a Human Inspired Hand Through 3D Printed Flexures and Combinatorial Actuation
title_full_unstemmed Scalable Fabrication and Actuation of a Human Inspired Hand Through 3D Printed Flexures and Combinatorial Actuation
title_short Scalable Fabrication and Actuation of a Human Inspired Hand Through 3D Printed Flexures and Combinatorial Actuation
title_sort scalable fabrication and actuation of a human inspired hand through 3d printed flexures and combinatorial actuation
topic Robotics and AI
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC9260052/
https://www.ncbi.nlm.nih.gov/pubmed/35813854
http://dx.doi.org/10.3389/frobt.2022.878111
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