Hostname: page-component-586b7cd67f-dlnhk Total loading time: 0 Render date: 2024-11-20T13:22:14.164Z Has data issue: false hasContentIssue false
  • English
  • Français

Focus on the mechatronics design of a new dexterous robotic hand for inside hand manipulation

Published online by Cambridge University Press:  08 May 2018

P. Vulliez ,
J. P. Gazeau Open the ORCID record for J. P. Gazeau [Opens in a new window] ,
P. Laguillaumie ,
H. Mnyusiwalla  and
P. Seguin
P. Vulliez
Affiliation:
Mechanical Engineering and Complex Systems Department, PPRIME Institute, CNRS - University of Poitiers - ENSMA - UPR 3346, Chasseneuil Futuroscope 86962, France
J. P. Gazeau*
Affiliation:
Mechanical Engineering and Complex Systems Department, PPRIME Institute, CNRS - University of Poitiers - ENSMA - UPR 3346, Chasseneuil Futuroscope 86962, France
P. Laguillaumie
Affiliation:
Mechanical Engineering and Complex Systems Department, PPRIME Institute, CNRS - University of Poitiers - ENSMA - UPR 3346, Chasseneuil Futuroscope 86962, France
H. Mnyusiwalla
Affiliation:
Mechanical Engineering and Complex Systems Department, PPRIME Institute, CNRS - University of Poitiers - ENSMA - UPR 3346, Chasseneuil Futuroscope 86962, France
P. Seguin
Affiliation:
Mechanical Engineering and Complex Systems Department, PPRIME Institute, CNRS - University of Poitiers - ENSMA - UPR 3346, Chasseneuil Futuroscope 86962, France
*
*Corresponding author. E-mail: [email protected]
Get access Rights & Permissions [Opens in a new window]

Summary

This paper presents a novel tendon-driven bio-inspired robotic hand design for in-hand manipulation. Many dexterous robot hands are able to produce adaptive grasping, but only a few human-sized hands worldwide are able to produce fine motions of the object in the hand. One of the challenges for the near future is to develop human-sized robot hands with human dexterity. Most of the existing hands considered in the literature suffer from dry friction which creates unwanted backlash and non-linearities. These problems limit the accurate control of the fingers and the capabilities of the hand. Such was the case with our first fully actuated dexterous robot hand: the Laboratoire de Mécanique des Solides (LMS) hand.

The mechanical design of the hand relies on a tendon-based transmission system. Developing a fully actuated dexterous robot hand requires the routing of the tendons through the finger for the actuation of each joint. This paper focuses on the evolution of the tendon routing; from the LMS hand to the new RoBioSS dexterous hand. The motion transmission in the new design creates purely linear coupling relations between joints and actuators. Experimental results using the same protocol for the previous hand and the new hand illustrate the evolution in the quality of the mechanical design. With the improvements of the mechanical behavior of the robotic fingers, the hand control software could be extensively simplified. The choice of a common architecture for all fingers makes it possible to consider the hand as a collaboration of four serial robots. Moreover, with the transparency of the motor-joint transmissions, we could use robust, industrial-grade cascaded feedback loops for the axis controls.

An inside-hand manipulation task concerning the manipulation of a bottle cap is presented at the end of the paper. As proof of the robustness of the hand, demonstrations of the hand's capabilities were carried out continuously over three days at SPS IPC Drives international exhibition in Nuremberg, in November 2016.

Keywords

Mechanical handGripperDexterous manipulationFinger designDexterous handTendon routingMechatronic design
Type
Articles
Information
Robotica , Volume 36 , Issue 8 , August 2018 , pp. 1206 - 1224
Copyright
Copyright © Cambridge University Press 2018 

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)

References

1. Gazeau, J. P., Zeghloul, S. and Ramirez, G., “Manipulation with a polyarticulated mechanical hand: A new efficient real-time method for computing fingertip forces for a global manipulation strategy,” Robotica 23, 479–490 (2005).Google Scholar
2. Martin, J. and Grossard, M., “Design of a fully modular and backdrivable dexterous hand,” Int. J. Robot. Res. 33 (5), 783–798 (Feb. 2014).Google Scholar
3. Company, S. R., “Design of a Dextrous Hand for advanced CLAWAR applications,” Proceedings of the International Conference on Climbing and Walking Robots and the Supporting Technologies for Mobile Machines, no. C (2003), pp. 691–698.Google Scholar
4. Grebenstein, M., Chalon, M., Friedl, W., Haddadin, S., Wimböck, T., Hirzinger, G. and Siegwart, R., “The hand of the DLR hand arm system: Designed for interaction,” Int. J. Robot. Res. 31, 1531–1555 (2012).Google Scholar
5. Palli, G., Melchiorri, C., Vassura, G., Scarcia, U., Moriello, L., Berselli, G., Cavallo, A., De Maria, G., Natale, C., Pirozzi, S., May, C., Ficuciello, F. and Siciliano, B., “The DEXMART hand: Mechatronic design and experimental evaluation of synergy-based control for human-like grasping,” Int. J. Robot. Res. 33 (5), 799–824 (Apr. 2014).Google Scholar
6. Falco, J., A Roadmap to Progress Measurement Science in Robot Dexterity and Manipulation (National Institute and of Standards Technology, US Department of Commerce, 2014) http://dx.doi.org/10.6028/NIST.IR.7993.CrossRefGoogle Scholar
7. Melchiorri, C. and Kaneko, M., “Robot hands,” In: Springer Handbook of Robotics (Siciliano, B. and Khatib, O., eds.) (Springer International, 2008). https://www.springer.com/us/book/9783540303015Google Scholar
8. Nguyen, K.-C. and Perdereau, V., “Fingertip Force Control for Grasping and In-Hand Manipulation,” HANDLE Training Workshop for Young Researchers and Ph.D. students, Benicassim, Spain (Feb. 2012).Google Scholar
9. Kumar, V., Xu, Z. and Todorov, E., “Fast, Strong and Compliant Pneumatic Actuation for Dexterous Tendon-Driven Hands,” Proceedings of IEEE International Conference on Robotics and Automation (2013).Google Scholar
10. Lovchik, C. and Diftler, M., “The Robonaut Hand: A Dexterous Robot Hand for Space,” Proceedings of IEEE International Conference on Robotics and Automation (1999).Google Scholar
11. Grossard, M., Martin, J. and Felippe, G., “Control-oriented design and robust decentralized control of the CEA dexterous robot hand,” IEEE/ASME Trans. Mechatron. 20 (4), 2015.Google Scholar
12. Cui, L., Sun, J. and Dai, J., “In-hand forward and inverse kinematics with rolling contact,” Robotica 35 (12), 2381–2399 (2017). doi:10.1017/S026357471700008X.CrossRefGoogle Scholar
13. Namiki, Akio, Imai, Yoshiro, Ishikawa, Masatoshi and Kaneko, Makoto, “Development of a High-speed Multifingered Hand System and Its Application to Catching,” Proceedings of the 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems, Las Vegas (Oct. 30, 2003) pp. 2666–2671.Google Scholar
14. Bundhoo, V. and Park, E., Design of An Artificial Muscle Actuated Finger Towards Biomimetic Prosthetic Hands,” Proceedings of the 12th International Conference on Advanced Robotics, 2005 (2005) pp. 368–375.Google Scholar
15. Carrozza, M. C., Cappiello, G., Micera, S., Edin, B. B., Beccai, L., and Cipriani, C., “Design of a cybernetic hand for perception and action,” Biol. Cybern. 95, 629–644 (2006).CrossRefGoogle ScholarPubMed
16. Kurita, Y., Ono, Y., Ikeda, A. and Ogasawara, T., “Human-sized anthropomorphic robot hand with detachable mechanism at the wrist,” Mech. Mach. Theory 46, 53–66 (2011).CrossRefGoogle Scholar
17. Xu, Z., Kumar, V. and Todorov, E., “A low-cost and modular, 20-DOF anthropomorphic robotic hand: Design, actuation and modeling,” 13th IEEE-RAS International Conference on Humanoid Robots (2013) pp. 368–375.Google Scholar
18. Birglen, L., Laliberté, T. and Gosselin, C., Underactuated Robotic Hands(Springer Tracts in Advanced Robotics), vol. 40 (Springer International, 2008). https://www.springer.com/la/book/9783540774587Google Scholar
19. Odhner, L. and Dollar, A., “Dexterous Manipulation with Underactuated Elastic Hands,” Proceedings of the IEEE International Conference on Robotics and Automation, Shanghai (May 9–13, 2011) pp. 5254–5260.Google Scholar
20. Carrozza, M. C., Suppo, C., Sebastiani, F., Massa, B., Vecchi, F., Lazzarini, R., Cutkosky, M. R., and Dario, P., “The spring hand: Development of a self-adaptive prosthesis for restoring natural grasping,” Autonomous Robots 16, 125–141 (2004).Google Scholar
21. Gazeau, J. P., Zeghloul, S., Arsicault, M. and Lallemand, J. P., “The LMS Hand: Force and Position Controls in the Aim of the Fine Manipulation of Objects,” Proceedings of the IEEE International Conference on Robotics and Automation (2001), pp. 2642–2648, vol. 3.Google Scholar
22. CNRS, “Doigt robotique modulaire pour la prehension et la manipulation dextre,” Patent FR 1459956, 10 16, 2014.Google Scholar
23. Mnyusiwalla, H., Vulliez, P., Gazeau, J. P. and Zeghloul, S., “A new dexterous hand based on bio-inspired finger design for inside-hand manipulation,” IEEE Trans. Syst., Man, Cybern.: Syst. 46 (6), 809–817 (2016).Google Scholar
24. Biagiotti, L., Lotti, F., Melchiorri, C. and Vassura, G., How Far Is the Human Hand? A Review on Anthropomorphic Robotic End-effectors, (DIES Internal Rep., Tech. Rep., Univ. Bologna, Italy, 2004).Google Scholar
25. Lee, Y.-H. and Lee, J.-J., “Modeling of the dynamics of tendon-driven robotic mechanisms with flexible tendons,” Mech. Mach. Theory 38 (12), 1431–1447 (Dec. 2003).CrossRefGoogle Scholar
26. Daoud, N., Gazeau, J., Zeghloul, S. and Arsicault, M., “A real-time strategy for dexterous manipulation: Fingertips motion planning, force sensing and grasp stability,” Robot. Auton. Syst. 60 (3), 377–386 (Mar. 2012).Google Scholar
27. The RoBioSS hand in Nuremberg SPS-IPC International Exhibit: https://www.youtube.com/watch?v=X87KKuVESS8Google Scholar
28. The RoBioSS hand video cited in the newspaper “Le Monde” (Keywords: Le Monde – Gazeau) follow the link: https://www.youtube.com/watch?v=O_P69haNA4AGoogle Scholar