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Shock Resistive Flexure-Based Anthropomorphic Hand with Enhanced Payload

Title
Shock Resistive Flexure-Based Anthropomorphic Hand with Enhanced Payload
Authors
Yang, JunmoKim, JeongseokKim, DonghyunYun, Dongwon
DGIST Authors
Yang, Junmo; Kim, Jeongseok; Kim, Donghyun; Yun, Dongwon
Issue Date
2021-03
Citation
Soft Robotics
Type
Article
Author Keywords
soft hand robotcross flexure hingeanthropomorphic hand robotshock resistive robot
ISSN
2169-5172
Abstract
In this study, a Crossed Flexural Hinge (CFH) structure was used for the design of a humanoid robot hand that can absorb any abrupt external force and that has a large payload, giving it the advantages of both rigid and compliant robots. Structural problems were identified through a 6 x 6 stiffness matrix to analyze whether CFH is suitable for use as an anthropomorphic robot hand. To reinforce the weak stiffness, a paired CFH (p-CFH) structure was proposed for the robot hand joints. In addition, it was verified through theoretical and experimental methods that p-CFH has superior stiffness characteristics compared to conventional CFH. When designing the anthropomorphic robot hand, p-CFH was appropriately deformed and applied. Using an underactuated wire mechanism suitable for the structure of the robot hand, it was possible to grasp objects of various shapes in a shape-adaptive manner. It was confirmed that the final anthropomorphic robot hand was able to stably hold an object of an unspecified shape without precisely controlling the motor. And the robot hand can also hold a heavy object due to the increased rigidity of the p-CFH. In addition, by conducting the qualitative impact test in which the robot was subjected to an impact in an arbitrary direction, it was confirmed that the robot, due to compliance of the joints, can absorb impact without incurring damage. Finally, a quantitative impact test was conducted in all directions, and the shock absorbing capability of anthropomorphic robot hand was verified through numerical comparison with the control model.
URI
http://hdl.handle.net/20.500.11750/13780
DOI
10.1089/soro.2020.0067
Publisher
Mary Ann Liebert, Inc.
Related Researcher
  • Author Yun, Dongwon Bio Robotics and Mechatronics Laboratory
  • Research Interests Biomimetic Robot; Soft Robotics; Robot elementary technology : Sensors and actuators; Study on the medical application; Study on the industrial application
Files:
There are no files associated with this item.
Collection:
Department of Robotics and Mechatronics EngineeringBio Robotics and Mechatronics Laboratory1. Journal Articles


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