A highly-underactuated robotic hand with force and joint angle sensors

Long Wang, Joseph DelPreto, Sam Bhattacharyya, Jonathan Weisz, Peter K. Allen

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

65 Scopus citations

Abstract

This paper describes a novel underactuated robotic hand design. The hand is highly underactuated as it contains three fingers with three joints each controlled by a single motor. One of the fingers ("thumb") can also be rotated about the base of the hand, yielding a total of two controllable degrees-of-freedom. A key component of the design is the addition of position and tactile sensors which provide precise angle feedback and binary force feedback. Our mechanical design can be analyzed theoretically to predict contact forces as well as hand position given a particular object shape

Original languageEnglish
Title of host publicationIROS'11 - 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems
Subtitle of host publicationCelebrating 50 Years of Robotics
Pages1380-1385
Number of pages6
DOIs
StatePublished - 2011
Event2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11 - San Francisco, CA, United States
Duration: 25 Sep 201130 Sep 2011

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Conference

Conference2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11
Country/TerritoryUnited States
CitySan Francisco, CA
Period25/09/1130/09/11

Keywords

  • Robotic Hands
  • Tactile sensors
  • Underactuation

Fingerprint

Dive into the research topics of 'A highly-underactuated robotic hand with force and joint angle sensors'. Together they form a unique fingerprint.

Cite this