Design and implementation of dexterous robotic hand for human controlled interfaces: A comparative analysis with EAP systems

Nicholas Thayer, Shashank Priya

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

An anthropomorphic robotic hand was developed with 23 degree of freedom (DOF) and dexterity to meet the requirements for typing on a standard keyboard. The design was inspired by human hand physiology and consists of 19 servo motors that drive tendons which run from the forearm to the hand. Antagonistic torsional springs and a 4-bar mechanism was used to decrease the number of actuators while maintaining human-like dexterity. The high dexterity also allows other complex tasks such as grasping and object manipulation. In order to achieving complete resemblance to the human hand, servo motors should be replaced with smart actuators that offer advantages in terms of energy density, power consumption, mechanical deformation, response time and noise. This paper will review the advantages and disadvantages of traditional servo motors with respect to commonly studied electro-active polymer based actuators and how they can affect the performance and appearance of humanoid hand.

Original languageEnglish (US)
Title of host publicationElectroactive Polymer Actuators and Devices (EAPAD) 2010
DOIs
StatePublished - Jun 14 2010
EventElectroactive Polymer Actuators and Devices (EAPAD) 2010 - San Diego, CA, United States
Duration: Mar 8 2010Mar 11 2010

Publication series

NameProceedings of SPIE - The International Society for Optical Engineering
Volume7642
ISSN (Print)0277-786X

Other

OtherElectroactive Polymer Actuators and Devices (EAPAD) 2010
CountryUnited States
CitySan Diego, CA
Period3/8/103/11/10

Fingerprint

end effectors
electroactive polymers
End effectors
Comparative Analysis
Robotics
Actuator
Actuators
actuators
Electroactive Polymers
forearm
tendons
Grasping
physiology
Tendons
Physiology
Energy Density
Response Time
Power Consumption
Manipulation
manipulators

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

Cite this

Thayer, N., & Priya, S. (2010). Design and implementation of dexterous robotic hand for human controlled interfaces: A comparative analysis with EAP systems. In Electroactive Polymer Actuators and Devices (EAPAD) 2010 [76421W] (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 7642). https://doi.org/10.1117/12.848716
Thayer, Nicholas ; Priya, Shashank. / Design and implementation of dexterous robotic hand for human controlled interfaces : A comparative analysis with EAP systems. Electroactive Polymer Actuators and Devices (EAPAD) 2010. 2010. (Proceedings of SPIE - The International Society for Optical Engineering).
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Thayer, N & Priya, S 2010, Design and implementation of dexterous robotic hand for human controlled interfaces: A comparative analysis with EAP systems. in Electroactive Polymer Actuators and Devices (EAPAD) 2010., 76421W, Proceedings of SPIE - The International Society for Optical Engineering, vol. 7642, Electroactive Polymer Actuators and Devices (EAPAD) 2010, San Diego, CA, United States, 3/8/10. https://doi.org/10.1117/12.848716

Design and implementation of dexterous robotic hand for human controlled interfaces : A comparative analysis with EAP systems. / Thayer, Nicholas; Priya, Shashank.

Electroactive Polymer Actuators and Devices (EAPAD) 2010. 2010. 76421W (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 7642).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Thayer N, Priya S. Design and implementation of dexterous robotic hand for human controlled interfaces: A comparative analysis with EAP systems. In Electroactive Polymer Actuators and Devices (EAPAD) 2010. 2010. 76421W. (Proceedings of SPIE - The International Society for Optical Engineering). https://doi.org/10.1117/12.848716