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Article: A novel versatile robotic palm inspired by human hand

TitleA novel versatile robotic palm inspired by human hand
Authors
Keywordsrobotic palm
particle jamming
variable stiffness
shape adaptiveness
Issue Date2019
PublisherInstitute of Physics Publishing Ltd.. The Journal's web site is located at https://iopscience.iop.org/journal/2631-8695
Citation
Engineering Research Express, 2019, v. 1 n. 1, article no. 015008 How to Cite?
AbstractHuman palm plays a great role in object grasping and manipulation. However, most current robotic hand researches focused on finger designs, with very few efforts seen on robotic palm research. Here, we propose a novel robotic hand palm that is highly adaptive to object shape with variable stiffness and can be controlled actively. Our palm has one degree of freedom (DOF) mechanism and one particle sac that can be activated by vacuum. When the mechanism is actuated by a soft actuator, the particle sac is forced into contact with a target object, adapting to its shape. The particle sac can then be stiffened to freeze the current contact based on vacuum particle jamming. The stiffness is controlled by vacuum pressure. Embedded into a robotic hand, the proposed palm can coordinate its motion with the robotic fingers in grasping tasks. A more than three-fold holding force increase in pull-out experiments showed its superior functionality when compared with pure silicone rubber palm. Grasping of objects with different shapes and properties are also demonstrated. We believe that the proposed robotic palm design can provide new insight into more effective robotic hand design.
Persistent Identifierhttp://hdl.handle.net/10722/273915
ISSN

 

DC FieldValueLanguage
dc.contributor.authorLi, Y-
dc.contributor.authorWei, Y-
dc.contributor.authorYang, Y-
dc.contributor.authorChen, YH-
dc.date.accessioned2019-08-18T14:51:14Z-
dc.date.available2019-08-18T14:51:14Z-
dc.date.issued2019-
dc.identifier.citationEngineering Research Express, 2019, v. 1 n. 1, article no. 015008-
dc.identifier.issn2631-8695-
dc.identifier.urihttp://hdl.handle.net/10722/273915-
dc.description.abstractHuman palm plays a great role in object grasping and manipulation. However, most current robotic hand researches focused on finger designs, with very few efforts seen on robotic palm research. Here, we propose a novel robotic hand palm that is highly adaptive to object shape with variable stiffness and can be controlled actively. Our palm has one degree of freedom (DOF) mechanism and one particle sac that can be activated by vacuum. When the mechanism is actuated by a soft actuator, the particle sac is forced into contact with a target object, adapting to its shape. The particle sac can then be stiffened to freeze the current contact based on vacuum particle jamming. The stiffness is controlled by vacuum pressure. Embedded into a robotic hand, the proposed palm can coordinate its motion with the robotic fingers in grasping tasks. A more than three-fold holding force increase in pull-out experiments showed its superior functionality when compared with pure silicone rubber palm. Grasping of objects with different shapes and properties are also demonstrated. We believe that the proposed robotic palm design can provide new insight into more effective robotic hand design.-
dc.languageeng-
dc.publisherInstitute of Physics Publishing Ltd.. The Journal's web site is located at https://iopscience.iop.org/journal/2631-8695-
dc.relation.ispartofEngineering Research Express-
dc.rightsEngineering Research Express. Copyright © Institute of Physics Publishing Ltd..-
dc.rightsThis is an author-created, un-copyedited version of an article published in [insert name of journal]. IOP Publishing Ltd is not responsible for any errors or omissions in this version of the manuscript or any version derived from it. The Version of Record is available online at http://dx.doi.org/[insert DOI].-
dc.subjectrobotic palm-
dc.subjectparticle jamming-
dc.subjectvariable stiffness-
dc.subjectshape adaptiveness-
dc.titleA novel versatile robotic palm inspired by human hand-
dc.typeArticle-
dc.identifier.emailChen, YH: yhchen@hkucc.hku.hk-
dc.identifier.authorityChen, YH=rp00099-
dc.description.naturelink_to_OA_fulltext-
dc.identifier.doi10.1088/2631-8695/ab2f69-
dc.identifier.hkuros301951-
dc.identifier.volume1-
dc.identifier.issue1-
dc.identifier.spagearticle no. 015008-
dc.identifier.epagearticle no. 015008-
dc.publisher.placeUnited Kingdom-

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