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Low–-cost anthropomorphic robotic hand with elastic joints –: early results
Mihailo Pupin Institute, Belgrade, Serbia.
Mälardalen University, School of Innovation, Design and Engineering, Embedded Systems.ORCID iD: 0000-0002-5224-8302
Mihailo Pupin Institute, Belgrade, Serbia.
Mihailo Pupin Institute, Belgrade, Serbia.
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2015 (English)In: Proceedings of the 2nd International Conference on Electrical, Electronic and Computing Engineering, 2015Conference paper, Published paper (Refereed)
Abstract [en]

The main objective of this paper is to propose a hand design that is inexpensive, robust against collisions and has enhanced grasping performance. Instead of simply copying human hand design this work will focus on mimicking its capabilities and functional properties. At this stage of the research only the index finger and the thumb have been realized. These two are the most important parts of the human hand from the design and usage point of view. The new approach includes the use of elastic joints instead of conventional hinge joints, thus providing passive grasp. This way the hand becomes more energy efficient. Since there is a lot of elasticity as an effect of material choice and design, it was decided to implement optoelectronic angular sensor for angular measurement.

Place, publisher, year, edition, pages
2015.
Keyword [en]
Anthropomorphic robotic hand, passive grasp, elastic joints, optoelectronic angular sensor
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
URN: urn:nbn:se:mdh:diva-30499ISBN: 978-86-80509-71-6 (print)OAI: oai:DiVA.org:mdh-30499DiVA: diva2:887113
Conference
2nd International Conference on Electrical, Electronic and Computing Engineering IcETRAN 2015, EKI2.5, Silver Lake (Srebrno Jezero), Serbia, June 8-11, 2015
Projects
Robot Colleague - A Project in Collaborative RoboticsDPAC - Dependable Platforms for Autonomous systems and Control
Available from: 2015-12-22 Created: 2015-12-21 Last updated: 2015-12-22Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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Language
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  • en-US
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