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Robot Operating System (ROS) Controlled Anthropomorphic Robot Hand

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Field Value
 
Title Robot Operating System (ROS) Controlled Anthropomorphic Robot Hand
 
Creator Krawczyk, Marcin
Gandhi, Vaibhav
Yang, Zhijun
 
Subject Grasp
Mechanical design
Robotic hand
Robot operating system
SolidWorks
 
Description 901-910
This paper presents a new design of a dexterous robot hand by incorporating human hand factors. The robotic hand is a
Robot Operating System (ROS) controlled standalone unit that can perform key tasks and work independently. Hardware
such as actuators, electronics, sensors, pulleys etc. are embedded within or on the hand itself. Raspberry Pi, a single board
computer which runs ROS and is used to control the hand movements as well as process the sensor signals is placed outside
of the hand. It supports peripheral devices such as screen display, keyboard and mouse. The hand prototype is designed in
Solid Works and 3D printed/built using aluminum sheet. The prototype is similar to the human hand in terms of shape and
possesses key functionalities and abilities of the human hand, especially to imitate key movements of the human hand and
be as dexterous as possible whilst keeping a low cost. Other important factors considered while prototyping the model were
that the hand should be reliable, have a durable construction, and should be built using widely available off-the-shelf
components and an open-source software. Though the prototype hand only has 6 degrees-of-freedom (DOF) compared to
the 22 DOF of the human hand, it is able to perform most grasps effectively. The proposed model will allow other
researchers to build similar robotic hands and perform specialized research.
 
Date 2022-09-06T11:52:09Z
2022-09-06T11:52:09Z
2022-09
 
Type Article
 
Identifier 0022-4456 (Print); 0975-1084 (Online)
http://nopr.niscpr.res.in/handle/123456789/60494
https://doi.org/10.56042/jsir.v81i09.45313
 
Language en
 
Publisher NIScPR-CSIR,India
 
Source JSIR Vol.81(09) [Sep 2022]