Abstract
Multifingered robot hands have a potential capability for achieving dexterous manipulation of objects by using rolling and sliding motions. This chapter addresses design, actuation, sensing and control of multifingered robot hands. From the design viewpoint, they have a strong constraint in actuator implementation due to the space limitation in each joint. After briefly introducing the overview of anthropomorphic end-effector and its dexterity in Sect. 15.1, various approaches for actuation are provided with their advantages and disadvantages in Sect. 15.2. The key classification is (1) remote actuation or build-in actuation and (2) the relationship between the number of joints and the number of actuator. In Sect. 15.3, actuator and sensors used for multifingered hands are described. In Sect. 15.4, modeling and control are introduced by considering both dynamic effects and friction. Applications and trends are given in Sect. 15.5. Finally, this chapter is closed with conclusions and further reading.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Abbreviations
- DLR:
-
Deutsches Zentrum für Luft- und Raumfahrt
- IT:
-
inferotemporal
- IT:
-
intrinsic tactile
- JPL:
-
Jet Propulsion Laboratory
- NASA:
-
National Aeronautics and Space Agency
- TDT:
-
tension differential type
References
T. Okada: Object-handling system for manual industry, IEEE Trans. Syst. Man Cybern. 2, 79–86 (1979)
K.S. Salisbury, B. Roth: Kinematics and force analysis of articulated mechanical hands, J. Mechan. Trans. Actuat. Des. 105, 35–41 (1983)
S.C. Jacobsen, E.K. Lversen, D.F. Knutti, R.T. Lohnsan, K.B. Biggers: Design of the Utah/MIT dexterous hand, Proc. IEEE Int. Conf. Robot. Autom. ICRA86 (1986)
J. Butterfass, G. Hirzinger, S. Knoch, H. Liu: DLRʼs multisensory articulated hand. Part I: Hard- and software architecture, Proc. IEEE Int. Conf. Robot. Autom. ICRA99 (1999)
C. Melchiorri, G. Vassura: Mechanical and control features of the university of Bologna hand version 2, Proc. IEEE/RSJ Int. Conf. Int. Robot. Syst. IROSʼ92 (Raleigh 1992) pp. 187–193
W.T. Townsend: MCB – industrial robot feature article- Barrett hand grasper, Ind. Robot. 27(3), 181–188 (2000)
H. Kawasaki, T. Komatsu, K. Uchiyama: Dexterous anthropomophic robot hand with distributed tactile sensor: Gifu hand II, IEEE/ASME Trans. Mechatron. 7(3), 296–303 (2002)
T.J. Doll, H.J. Scneebeli: The Karlsruhe hand, Preprint IFAC Symp. Robot Contr. SYROCO (1988) pp. 1–6
N. Fukaya, S. Toyama, T. Asfour, R. Dillmann: Design of the TUAT/Karlsruhe humanoid Hand, Intell. Robot. Syst. 3, 1754–1759 (2000)
A. Bicchi, A. Marigo: Dexterous grippers: putting nonholonomy to work for fine manipulation, Int. J. Robot. Res. 21(5-6), 427–442 (2002)
M.C. Carrozza, C. Suppo, F. Sebastiani, B. Massa, F. Vecchi, R. Lazzarini, M.R. Cutkosky, P. Dario: The SPRING hand: development of a self-adaptive prosthesis for restoring natural grasping, Auton. Robots 16(2), 125–141 (2004)
J.L. Pons, E. Rocon, R. Ceres, D. Reynaerts, B. Saro, S. Levin, W. Van Moorleghem: The MANUS-hand dextrous robotics upper limb prosthesis: mechanical and manipulation aspects, Auton. Robots 16(2), 143–163 (2004)
T. Iberall, C.L. MacKenzie: Opposition space and human prehension. In: Dextrous Robot Hands, ed. by T. Iberall, S.T. Venkataraman (Springer, New York 1990)
A. Bicchi: Hands for dexterous manipulation and robust grasping: a difficult road toward simplicity, IEEE Trans. Robot. Autom. 16(6), 652–662 (2000)
M.R. Cutkosky: On grasp choice, grasp models, and the design of hands for manufacturing tasks, IEEE Trans. Robot. Autom. 5(3), 269–279 (1989)
J. Butterfass, M. Grebenstein, H. Liu, G. Hirzinger: DLR-hand ii: next generation of a dextrous robot hand, Proc. IEEE Int. Conf. Robot. Autom. ICRA01 (Seoul 2001)
C. Melchiorri, G. Vassura: Mechanical and control features of the UB hand version II, Proc. IEEE/RSJ Int. Conf. Int. Robot. Syst. IROSʼ92 (1992)
R.O. Ambrose, H. Aldridge, R.S. Askew, R.R. Burridge, W. Bluethmann, M. Diftler, C. Lovchik, D. Magruder, F. Rehnmark: Robonaut: NASAʼs space humanoid, IEEE Int. Syst. (2000)
L. Birglen, C.M. Gosselin: Kinetostatic analysis of underactuated fingers, IEEE Trans. Robot. Autom. 20(2), 211 (2004)
I. Yamano, T. Maeno: Five-fingered robot hand using ultrasonic motors and elastic elements, Proc. IEEE Int. Conf. Robot. Autom. (2005) pp. 2684–2689
Shadow Dexterous Hand, (Shadow Robot Ltd., London 2007) http://www.shadow.org.uk/
M. Kaneko, M. Higashimori, R. Takenaka, A. Namiki, M. Ishikawa: The 100G capturing robot -too fast to see, Proc. 8th Int. Symp. Artif. Life Robot. (2003) pp. 291–296
W. Paetsch, M. Kaneko: A three fingered multijointed gripper for experimental use, Proc. IEEE Int. Workshop Int. Robot. Syst. IROSʼ90 (1990) pp. 853–858
H. Maekawa, K. Yokoi, K. Tanie, M. Kaneko, N. Kimura, N. Imamura: Development of a three-fingerd robot hand with stiffness control capability, Mechatronics 2(5), 483–494 (1992)
A. Bicchi: A Criterion for optimal design of multiaxis force sensors, J. Robot. Auton. Syst. 10(4), 269–286 (1992)
A. Pugh: Robot Sensors: Tactile and Non-Vision, Vol. 2 (Springer, Berlin, Heidelberg 1986)
H.R. Nicholls, M.H. Lee: A survey of robot tactile sensing technology, Int. J. Robot. Res., 8(3), 3–30 (1989)
W.T. Townsend, J.K. Salisbury: Mechanical bandwidth as a guideline to high-performance manipulator design, Proc. IEEE Int. Conf. Robot. Autom. ICRA89 (1989)
S.D. Eppinger, W.P. Seering: Three dynamic problems in robot force control, IEEE Trans. Robot. Autom. 8(6), 751–758 (1992)
W.T. Townsend, J.K. Salisbury: The effect of coulomb friction and stiction on force control, Proc. IEEE Int. Conf. Robot. Autom. ICRA87 (1987)
M. Kaneko, T. Yamashita, K. Tanie: Basic considerations on transmission characteristics for tendon drive robots, Proc. 5th Int. Conf. Adv. Robot. (1991), 827–832
R.M. Murray, Z. Li, S.S. Sastry: A Mathematical Introduction to Robotic Manipulation (CRC, Boca Raton 1994)
J. Mason, J.K. Salisbury: Robot Hands and the Mechanics of Manipulation (MIT Press, Cambridge 1985)
M.R. Cutkosky: Robotic Grasping and Fine Manipulation (Springer, New York 1985)
Author information
Authors and Affiliations
Corresponding authors
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2008 Springer-Verlag
About this entry
Cite this entry
Melchiorri, C., Kaneko, M. (2008). Robot Hands. In: Siciliano, B., Khatib, O. (eds) Springer Handbook of Robotics. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-30301-5_16
Download citation
DOI: https://doi.org/10.1007/978-3-540-30301-5_16
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-23957-4
Online ISBN: 978-3-540-30301-5
eBook Packages: EngineeringEngineering (R0)