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Integrated linkage-driven dexterous anthropomorphic robotic handoa mark
  • Kim, Uikyum ;
  • Jung, Dawoon ;
  • Jeong, Heeyoen ;
  • Park, Jongwoo ;
  • Jung, Hyun Mok ;
  • Cheong, Joono ;
  • Choi, Hyouk Ryeol ;
  • Do, Hyunmin ;
  • Park, Chanhun
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Publication Year
2021-12-01
Journal
Nature Communications
Publisher
Nature Research
Citation
Nature Communications, Vol.12 No.1
Mesh Keyword
AnthropometryBiomechanical PhenomenaEquipment DesignFingersHandHand JointsHand StrengthHumansRange of Motion, ArticularRoboticsTouch
All Science Classification Codes (ASJC)
Chemistry (all)Biochemistry, Genetics and Molecular Biology (all)Physics and Astronomy (all)
Abstract
Robotic hands perform several amazing functions similar to the human hands, thereby offering high flexibility in terms of the tasks performed. However, developing integrated hands without additional actuation parts while maintaining important functions such as human-level dexterity and grasping force is challenging. The actuation parts make it difficult to integrate these hands into existing robotic arms, thus limiting their applicability. Based on a linkage-driven mechanism, an integrated linkage-driven dexterous anthropomorphic robotic hand called ILDA hand, which integrates all the components required for actuation and sensing and possesses high dexterity, is developed. It has the following features: 15-degree-of-freedom (20 joints), a fingertip force of 34N, compact size (maximum length: 218 mm) without additional parts, low weight of 1.1 kg, and tactile sensing capabilities. Actual manipulation tasks involving tools used in everyday life are performed with the hand mounted on a commercial robot arm.
ISSN
2041-1723
Language
eng
URI
https://aurora.ajou.ac.kr/handle/2018.oak/32437
https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85121300787&origin=inward
DOI
https://doi.org/2-s2.0-85121300787
Journal URL
http://www.nature.com/ncomms/index.html
Type
Article
Funding
This work was supported by the new faculty research fund of Ajou University. This work was also supported by the National Research Council of Science & Technology (NST, Korea Government) under Grant NK233C. This work was also supported by the new faculty research fund of Ajou University. U.K. would like to thank J. Chung for her encouragement to continue meaningful research.
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Kim, Uikyum 김의겸
Department of Mechanical Engineering
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