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ESTIMATION OF OBJECT GRAVITY AND WRENCH EXERTED ON OBJECT USING multifingered hand WITH FORCE/TORQUE SENSORS

Chinese Journal of Mechanical Engineering 1998年第2期11卷 23-29页

作者： Guan, Yisheng Zhang, Qixian Li, Zexiang Beijing Univ of Aeronautics and Astronautics China

From the point of view of real application of multifingered hand, the problem of estimating the gravity of a grasped object and the wrench exerted on the object by the external environment, using multifingered hand equipped with force/torque sensors, is addressed. At first the problem is modeled mathematically by the concept of wrench, then gravitational effect of fingertips is taken into accounted to eliminate the biasing effect in real implementation. On experimental system HKUST hand, some experiments are carried out to implement and verify the proposed approach. This is an introduction to real application of multifingered hand, such as assembly of parts.

关键词： multifingered hand Estimation Object gravity Wrench

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HYBRID POSITION/FORCE MANIPULATION OF multifingered hand

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Chinese Journal of Aeronautics 1998年第2期11卷 64-72页

作者：管贻生张启先李泽湘 Robotics Research Institute Beijing Univ. Aero. and Astronaut. Beijing 100083 China Dept. of Elec. and Electron. Eng. Hong Kong Univ. of Sci. and Technol. Hong Kong

ＨＹＢＲＩＤＰＯＳＩＴＩＯＮ／ＦＯＲＣＥＭＡＮＩＰＵＬＡＴＩＯＮＯＦＭＵＬＴＩＦＩＮＧＥＲＥＤＨＡＮＤＧＵＡＮＹｉｓｈｅｎｇ（管贻生），ＺＨＡＮＧＱｉｘｉａｎ（张启先）（ＲｏｂｏｔｉｃｓＲｅｓｅａｒｃｈＩｎｓｔｉｔｕ... 详细信息

ＨＹＢＲＩＤＰＯＳＩＴＩＯＮ／ＦＯＲＣＥＭＡＮＩＰＵＬＡＴＩＯＮＯＦＭＵＬＴＩＦＩＮＧＥＲＥＤＨＡＮＤＧＵＡＮＹｉｓｈｅｎｇ（管贻生），ＺＨＡＮＧＱｉｘｉａｎ（张启先）（ＲｏｂｏｔｉｃｓＲｅｓｅａｒｃｈＩｎｓｔｉｔｕｔｅ，ＢｅｉｊｉｎｇＵｎｉｖｅｒｓ...

关键词： multifingered hand manipulation hybrid control kinematics

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Mechanical design,modeling,and identification for a novel antagonistic variable stiffness dexterous finger

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Frontiers of Mechanical Engineering 2022年第3期17卷 59-74页

作者： handong HU Yiwei LIU Zongwu XIE Jianfeng YAO Hong LIU State Key Laboratory of Robotics and System Harbin Institute of TechnologyHarbin 150001China

This study traces the development of dexterous hand research and proposes a novel antagonistic variable stiffness dexterous finger mechanism to improve the safety of dexterous hand in unpredictable environments,such as unstructured or man-made operational errors through comprehensive consideration of cost,accuracy,manufacturing,and *** on the concept of mechanical passive compliance,which is widely implemented in robots for interactions,a finger is dedicated to improving mechanical *** finger mechanism not only achieves passive compliance against physical impacts,but also implements the variable stiffness actuator principle in a compact finger without adding supererogatory *** achieves finger stiffness adjustability according to the biologically inspired stiffness variation principle of discarding some mobilities to adjust *** mechanical design of the finger and its stiffness adjusting methods are *** stiffness characteristics of the finger joint and the actuation unit are *** results of the finger joint stiffness identification and finger impact tests under different finger stiffness presets are provided to verify the validity of the *** have been experimentally proven to be robust against physical ***,the experimental part verifies that fingers have good power,grasping,and manipulation performance.

关键词： multifingered hand mechanism design robot safety variable stiffness actuator

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