Innovative technologies for the next generation of robotic hands

Springer Tracts in Advanced Robotics

Volumn 80, Issue STAR, 2012, Pages 173-218

  Palli, Gianluca ^a   Melchiorri, Claudio ^a   Vassura, Gabriele ^a   Berselli, Giovanni ^a   Pirozzi, Salvatore ^b   Natale, Ciro ^b   De Maria, Giuseppe ^b   May, Chris ^c  

^a UNIVERSITY OF BOLOGNA   (Italy)

^b SECOND UNIVERSITY OF NAPLES   (Italy)

^c SAARLAND UNIVERSITY   (Germany)

Author keywords

[No Author keywords available]

Indexed keywords

ACTUATION SYSTEMS; DESIGN SOLUTIONS; GRASPING AND MANIPULATION; HUMAN MANIPULATION; IMPROVED RELIABILITY; INDUSTRIAL ACTIVITIES; INNOVATIVE SOLUTIONS; INNOVATIVE TECHNOLOGY; MECHANICAL DESIGN; REDUCED COMPLEXITY; RESEARCH ACTIVITIES; ROBOTIC DEVICES; SENSORS AND ACTUATORS; UNSTRUCTURED ENVIRONMENTS;

COST REDUCTION; INDUSTRIAL RESEARCH;

ROBOTIC ARMS;

EID: 84862075799     PISSN: 16107438     EISSN: 1610742X     Source Type: Book Series    
DOI: 10.1007/978-3-642-29041-1_4     Document Type: Article

References (76)

1. Armstrong-Hèlouvry, B., Dupont, P., Canudas de Wit, C.: A survey of models, analysis tools and compensation methods for the control of machines with friction. Automatica 30, 1083-1138 (1994) (Pubitemid 124008280)
2. Bergström, J., Boyce, M.: Constitutive modeling of the large strain time-dependent behavior of elastomers. Journal of Mechanics and Physics of Solids 46, 931-954 (1998) (Pubitemid 128378395)
3. Berselli, G., Borghesan, G., Brandi, M., Melchiorri, C., Natale, C., Palli, G., Pirozzi, S., Vassura, G.: Integrated mechatronic design for a new generation of robotic hands. In: IFAC Symposium on Robot Control, Gifu (2009)
4. Berselli, G., Piccinini, M., Vassura, G.: On designing structured soft covers for robotic limbs with predetermined compliance. In: ASME International Design Engineering Technical Conference, Montréal (2010)
5. Berselli, G., Piccinini, M., Vassura, G.: Tailoring the viscoelastic properties of soft pads for robotic limbs through purposely designed fluid filled structures. In: IEEE International Conference on Robotics and Automation, Anchorage, AK (2010)
6. Berselli, G., Vassura, G.: Differentiated layer design to modify the compliance of soft pads for robotic limbs. In: IEEE International Conference on Robotics and Automation, Kobe (2009)
7. Berselli, G., Vertechy, R., Vassura, G., Parenti Castelli, V.: Design of a single-acting constant-force actuator based on dielectric elastomers. ASME Journal of Mechanisms and Robotics 1(3) (2009)
8. Biagiotti, L., Lotti, F., Melchiorri, C., Palli, G., Tiezzi, P., Vassura, G.: Development of UB Hand 3: Early results. In: IEEE International Conference on Robotics and Automation, Barcelona (2005)
9. Biagiotti, L., Tiezzi, P., Melchiorri, C., Vassura, G.: Modelling and controlling the compliance of a robotic hand with soft finger-pads. In: IEEE International Conference on Robotics and Automation, New Orleans, LA (2004)
10. Bicchi, A., Tonietti, G.: Fast and soft arm tactics: Dealing with the safety-performance tradeoff in robot arms design and control. IEEE Robotics & AutomationMagazine 11(2), 22-33 (2004)
11. Bicchi, A., Tonietti, G., Bavaro, M., Piccigallo, M.: Variable stiffness actuators for fast and safe motion control. In: Dario, P., Chatila, R. (eds.) The Eleventh International Symposium on Robotics Research, pp. 527-536. Springer, Heidelberg (2005)
12. Birglen, L., Laliberté, T., Gosselin, C.: Underactuated Robotic Hands. Springer, Heidelberg (2008)
13. Borghesan, G., Palli, G.,Melchiorri, C.: Design of tendon-driven robotic fingers: Modeling and control issues. In: IEEE International Conference on Robotics and Automation, Anchorage, AK (2010)
14. Borghesan, G., Palli, G., Melchiorri, C.: Friction compensation and virtual force sensing for robotic hands. In: IEEE International Conference on Robotics and Automation, Shanghai (2011)
15. Butterfaß, J., Grebenstein, M., Liu, H., Hirzinger, G.: DLR-hand II: Next generation of a dextrous robot hand. In: IEEE International Conference on Robotics and Automation, Seoul (2001)
16. Carrozza, M., Cappiello, G., Stellin, G., Zaccone, F., Vecchi, F., Micera, S., Dario, P.: A cosmetic prosthetic hand with tendon driven under-actuated mechanism and compliant joints: Ongoing research and preliminary results. In: IEEE International Conference on Robotics and Automation, Barcelona (2005)
17. Carrozza, M., Cappiello, G., Stellin, G., Zaccone, F., Vecchi, F.,Micera, S., Dario, P.: On the development of a novel adaptive prosthetic hand with compliant joints: Experimental platform and EMG control. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton (2005)
18. Cavallo, A., De Maria, G., Natale, C., Pirozzi, S.: Optoelectronic joint angular sensor for robotic fingers. Sensors and Actuators A: Physical 152, 203-210 (2009)
19. Chou, P.C.,Hannaford, B.: Measurement and modeling ofMcKibben pneumatic artificial muscles. IEEE Transactions on Robotics and Automation 12, 90-102 (1996) (Pubitemid 126780450)
20. Cutkosky,M.R., Jourdain, J.M.,Wright, P.K.: Skin materials for robotic fingers. In: IEEE International Conference on Robotics and Automation, Raleigh, NC (1987)
21. Cutkosky, M.R., Wright, P.K.: Friction, stability and the design of robotic fingers. International Journal of Robotics Research 5(4), 20-37 (1986)
22. Dalley, S., Wiste, T., Withrow, T., Goldfarb, M.: Design of a multifunctional anthropomorphic prosthetic hand with extrinsic actuation. IEEE/ASME Transactions on Mechatronics 14, 699-706 (2009)
23. D'Amore, A., De Maria, G., Grassia, L., Natale, C., Pirozzi, S.: Silicone-rubber-based tactile sensors for the measurement of normal and tangential components of the contact force. Journal of Applied Polymer Science 122, 3758-3770 (2011)
24. De Maria, G., Natale, C., Pirozzi, S.: Force/tactile sensor for robotic applications. Sensors and Actuators A: Physical 175, 60-72 (2012)
25. Du, H., Lau, G.K., Lim, M.K., Qui, J.: Topological optimization of mechanical amplifiers for piezoelectric actuators under dynamic motion. SmartMaterials and Structures 9, 788-800 (2000) (Pubitemid 32086153)
26. Gao, X., Jin, M., Jiang, L., Xie, Z., He, P., Yang, L., Liu, Y., Wei, R., Cai, H., Liu, H., Butterfaß, J., Grebenstein, M., Seitz, N., Hirzinger, G.: The HIT/DLR dexterous hand: Work in progress. In: IEEE International Conference on Robotics and Automation, Taipei (2003)
27. Gardner, M.: Knotted Doughnuts and Other Mathematical Entertainments. Freeman, New York (1986)
28. Gialias, N.,Matsuoka, Y.: Muscle actuator design for the act hand. In: IEEE International Conference on Robotics and Automation, New Orleans, LA (2004)
29. Howell, L.L.: Compliant Mechanisms. Wiley, New York (2001)
30. Jacobsen, S., Iversen, E., Knutti, D., Johnson, R., Biggers, K.: Design of the Utah/M.I.T. dexterous hand. In: IEEE International Conference on Robotics and Automation, San Francisco, CA (1986)
31. Jacobsen, S., Wood, J., Knutti, D., Biggers, K.: The UTAH/M.I.T. dextrous hand: Work in progress. International Journal of Robotics Research 3(4), 21-50 (1984) (Pubitemid 15512060)
32. Jacobsen, S.C., Jerrard, R.B., Knutti, D., Carruth, J.: The LADD actuator as a prosthetic muscle. In: International Symposium on External Control of Human Extremities, Dubrovnik (1975)
33. Jung, S., Kang, S., Lee, M., Moon, I.: Design of robotic hand with tendon-driven three fingers. In: International Conference on Control, Automation and Systems, Seoul (2007)
34. Kaneko, M.,Wada, M., Maekawa, H., Tanie, K.: A new consideration on tendon-tension control system of robot hands. In: IEEE International Conference on Robotics and Automation, Sacramento, CA (1991)
35. Kaneko, M., Yokoi, K., Tanie, K.: On a new torque sensor for tendon drive fingers. IEEE Transactions on Robotics and Automation 6, 501-507 (1990)
36. Kao, I., Yang, F.: Stiffness and contact mechanics for soft fingers in grasping and manipulation. IEEE Transactions of Robotics and Automation 20, 132-135 (2004)
37. Kasap, S.: Optoelectronics and Photonics: Principles and Practices. Prentice Hall, Englewood Cliffs (2001)
38. Kawasaki, H., Komatsu, T., Uchiyama, K.: Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II. IEEE/ASME Transactions on Mechatronics 7, 296-303 (2002)
39. Kota, S., Hetrick, J., Li, Z., Saggere, L.: Tailoring unconventional actuators with compliant transmissions: Design methods and applications. IEEE/ASME Transactions on Mechatronics 4, 396-408 (1999) (Pubitemid 30558620)
40. Lee, M.H., Nicholls, H.R.: Tactile sensing for mechatronics-A state of the art survey. Mechatronics 9, 1-31 (1999) (Pubitemid 129709244)
41. Lee, Y., Choi, H., Chung, W., Youm, Y.: Stiffness control of a coupled tendon-driven robot hand. IEEE Control Systems Magazine 14(5), 10-19 (1994)
42. Li, Y., Saitou, K., Kikuchi, N.: Topology optimization of thermally actuated compliant mechanisms considering time-transient effect. Finite Elements in Analysis and Design 40, 1317-1331 (2004)
43. Liu, H., Butterfaß, J., Knoch, S., Meusel, P., Hirzinger, G.: A new control strategy for DLR's multisensory articulated hand. IEEE Control Systems Magazine 19(2), 47-54 (1999)
44. Liu, H., Meusel, P., Hirzinger, G., Jin, M., Liu, Y., Xie, Z.: The modular multisensory DLR-HIT-Hand: Hardware and software architecture. IEEE/ASME Transactions on Mechatronics 13, 461-469 (2008)
45. Lobontiu, N., Paine, J.S.N., Garcia, E., Goldfarb, M.: Corner-filleted flexure hinges. ASME Journal of Mechanical Design 123, 346-352 (2001) (Pubitemid 33716218)
46. Melchiorri, C., Kaneko, M.: Robot hands. In: Siciliano, B., Khatib, O. (eds.) Springer Handbook of Robotics, pp. 345-360. Springer, Heidelberg (2008)
47. Mennitto, G., Buehler, M.: Ladd transmissions: Design, manufacture, and new compliance models. ASME Journal of Mechanical Design 119, 197-203 (1997) (Pubitemid 127709727)
48. Murray, R., Li, Z., Sastry, S.: A Mathematical Introduction to Robotic Manipulation. CRC Press, Boca Raton (1994)
49. Namiki, A., Imai, Y., Ishikawa, M., Kaneko, M.: Development of a high-speed multifingered hand system and its application to catching. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas, NV (2003)
50. Palli, G., Berselli, G.,Melchiorri, C., Vassura, G.: Design and modeling of variable stiffness joints based on compliant flexures. In: ASME International Design Engineering Technical Conferences, Montréal (2010)
51. Palli, G., Borghesan, G., Melchiorri, C.: Modeling, identification and control of tendonbased actuation systems. IEEE Transactions on Robotics (2012) (in Press)
52. Palli, G.,Melchiorri, C.: Velocity and disturbance observer for non-model based load and friction compensation. In: International Workshop on Advanced Motion Control, Trento (2008)
53. Palli, G., Natale, C., May, C., Melchiorri, C., Würtz, T.: Modeling and control of the twisted string actuation system. IEEE/ASME Transactions on Mechatronics (2012) (in Press)
54. Palli, G., Pirozzi, S.: Force sensor based on discrete optoelectronic components and compliant frames. Sensors and Actuators A: Physical 165, 239-249 (2011)
55. Palli, G., Pirozzi, S.: Miniaturized optical-based force sensors for tendon-driven robots. In: IEEE International Conference on Robotics and Automation, Shanghai (2011)
56. Pawluk, R., Howe, R.D.: Dynamic lumped element response of the human fingerpad. Journal of Biomechanical Engineering 121, 178-183 (1999) (Pubitemid 29181160)
57. Piccinini, M., Berselli, G., Zucchelli, A., Vassura, G.: Predicting the compliance of soft fingertips with differentiated layer design: A numerical and experimental investigation. In: 17th International Conference on Advanced Robotics, München (2009)
58. Pirozzi, S., Grassia, L.: Tactile sensor based on led-phototransistor couples. In: 9th IEEERAS International Conference on Humanoid Robots, Paris (2009)
59. Pottebaum, K.L., Beaman, J.J.: A dynamic model of a concentric ladd actuator. ASME Journal of Dynamic Systems, Measurement, and Control 105, 157-164 (1983) (Pubitemid 14450942)
60. Rothling, F., Haschke, R., Steil, J.J., Ritter, H.: Platform portable anthropomorphic grasping with the bielefeld 20-DOF shadow and 9-DOF TUM hand. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, CA (2007)
61. Salisbury, J., Craig, J.: Articulated hands: Force control and kinematic issues. International Journal of Robotic Research 1(1), 4-17 (1982) (Pubitemid 13510801)
62. Serina, E., Mockensturm, F., Mote Jr., C., Rempel, D.: A structural model of the forced compression of the fingertip pulp. Journal of Biomechanics 31, 639-646 (1998) (Pubitemid 28470516)
63. Shadow Robot Company: Design of a dextrous hand for advanced CLAWAR applications. In: Climbing and Walking Robots and the Supporting Technologies for Mobile Machines, Catania (2003)
64. Shao, F., Childs, T.H., Henson, B.: Developing an artificial fingertip with human friction properties. Tribology International 42, 1575-1581 (2009)
65. Shimoga, K., Goldenberg, A.: Soft robotic fingertips Part I: A comparison of construction materials. International Journal of Robotics Research 15, 320-334 (1996) (Pubitemid 126527324)
66. Shimoga, K., Goldenberg, A.: Soft robotic fingertips Part II: Modelling and impedance regulation. International Journal of Robotics Research 15, 335-350 (1996) (Pubitemid 126527325)
67. Siciliano, B., Khatib, O. (eds.): Springer Handbook of Robotics. Springer, Heidelberg (2008)
68. Sonoda, T., Godler, I.: A five fingered robotic hand prototype by using twist drive. In: International Symposium on Robotics, München (2010)
69. Sonoda, T., Godler, I.: Multi-fingered robotic hand employing strings transmission named Twist Drive. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei (2010)
70. Tiezzi, P.: Experimental analysis and modeling of soft pads for application on robotic fingers, Ph.D. thesis, Department of Mechanical Engineering. University of Bologna (2006)
71. Tiezzi, P., Kao, I.: Modeling of viscoelastic contacts and evolution of limit surface for robotic contact interface. IEEE Transastions on Robotics 23, 206-217 (2007) (Pubitemid 46621548)
72. Tiezzi, P., Lotti, F., Vassura, G.: Polyurethane gel pulps for robotic fingers. In: 11th International Conference on Advanced Robotics, Coimbra (2003)
73. Tsai, C.D., Kao, I.: The latency model for viscoelastic contact interface in robotics: Theory and experiments. In: IEEE International Conference on Robotics and Automation, Kobe (2009)
74. Wang, L.X.: Fuzzy systems are universal approximators. IEEE Transactions on Systems, Man, and Cybernetics 7, 1163-1170 (1992)
75. Wu, J., Dong, R., Smutz, W., Rakheja, S.: Dynamic interaction between a fingerpad and a flat surface: Experiments and analysis. Medical Engineering and Physics 25, 397-406 (2003) (Pubitemid 36506996)
76. Xydas, N., Kao, I.: Modeling of contact mechanics and friction limit surface for soft fingers in robotics, with experimental results. International Journal of Robotics Research 18, 941-950 (1999)