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Published in:
Robotic Grasping and Manipulation Competition: Task Pool Read chapter Read first chapter

2018 | OriginalPaper | Chapter

The TU Hand: Using Compliant Connections to Modulate Grasping Behavior

Authors : Dipayan Das, Nathanael J. Rake, Joshua A. Schultz

Published in: Robotic Grasping and Manipulation

Publisher: Springer International Publishing

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Abstract

Guided by the notion that the five-fingered anthropomorphic hand is a good general purpose manipulator, Team Tulsa approached the hand-in-hand portion of the grasping and manipulation competition using a simplified anthropomorphic hand. The hand had a simplified thumb, fixed in the opposed position, and only two actuators. Motions of the fingers and thumb were coupled together using a “ties and skips” architecture where thumb and finger tendons were tied to specific coils of a “mainspring” in a manner that produced the best behavior across the wide range of challenges. The actuators could move or deform the spring in common mode, which resulted in an enveloping grasp) or differential mode (which resulted in a pinch grasp) and superimpose the two modes. The compliant nature of the hand allowed the fingers to conform to the object as the grasp was acquired. This strategy allowed the retrieval of all objects from the basket (all on the first or second attempt by the volunteer), and scooping peas from the dish, but could not operate the hammer (due to its weight) the syringe, or the scissors (as they required increased dexterity).

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previous chapter Design of Modular Humanoid Robotic Hand Driven by SMA Actuator
next chapter Design and Application of Dorabot-hand2 System
Footnotes
1
In this work, “Anthropomorphic” can be taken to mean having a distinct “thumb” placed in opposition to the fingers with distinct differences in morphology and kinematics from the remaining fingers and with morphology of the fingers generally human in kinematics, appearance and proportion. Not all are five-fingered. For a more quantitative measure of anthropomorphism, the reader is referred to Liarokapis [17].
 
2
In principle, linkage-based systems could be driven bidirectionally and independently drive n joints with only n actuators, but design of such a mechanism is extremely challenging. All linkage-based hands the authors are aware of are underactuated.
 
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Metadata
Title
The TU Hand: Using Compliant Connections to Modulate Grasping Behavior
Authors
Dipayan Das
Nathanael J. Rake
Joshua A. Schultz
Copyright Year
2018
Book
Robotic Grasping and Manipulation

Print ISBN: 978-3-319-94567-5

Electronic ISBN: 978-3-319-94568-2

Copyright Year: 2018

DOI
https://doi.org/10.1007/978-3-319-94568-2_4

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