publication . Conference object . 2016

EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation

Konnaris, C; Gavriel, C; Thomik, AAC; Aldo Faisal, A;
Open Access
  • Published: 01 May 2016
  • Publisher: IEEE
  • Country: United Kingdom
Abstract
Our dexterous hand is a fundmanetal human feature that distinguishes us from other animals by enabling us to go beyond grasping to support sophisticated in-hand object manipulation. Our aim was the design of a dexterous anthropomorphic robotic hand that matches the human hand's 24 degrees of freedom, under-actuated by seven motors. With the ability to replicate human hand movements in a naturalistic manner including in-hand object manipulation. Therefore, we focused on the development of a novel thumb and palm articulation that would facilitate in-hand object manipulation while avoiding mechanical design complexity. Our key innovation is the use of a tendon-driv...
Subjects
free text keywords: Thumb, medicine.anatomical_structure, medicine, Kinematics, Robot, Haptic technology, Ball joint, Engineering, business.industry, business, Teleoperation, Computer vision, Robot kinematics, Robotics, Artificial intelligence
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publication . Conference object . 2016

EthoHand: A dexterous robotic hand with ball-joint thumb enables complex in-hand object manipulation

Konnaris, C; Gavriel, C; Thomik, AAC; Aldo Faisal, A;