TY - GEN
T1 - The indirect style under-actuated robotic finger with tendon-slider mechanisms
AU - Wang, Long
AU - Zhang, Wenzeng
AU - Ye, Yuming
AU - Chen, Qiang
AU - Du, Dong
PY - 2009
Y1 - 2009
N2 - This paper proposed a novel concept of indirect under-actuation with tendon-slider mechanism. A mechanical finger with the mechanism was designed and integrated into a humanoid robotic hand-TH-2T Hand. The tendon-slider under-actuated finger proves simple but works well. In the design of the finger, the reaction force against a slider in the base segment produced by the grasped object was adopted to make the next segment bend, which relies on a special tendon-slider mechanism. Further, all the five fingers on the TH-2T Hand applies the indirect under-actuated mechanism. Compared with those full-active fingers, the finger and hand designed in this paper have strong self-adaptation to the grasped object; compared with those direct under-actuations, the designed mechanism effectively simplifies the structure, decreases the volume and costs of manufacturing.
AB - This paper proposed a novel concept of indirect under-actuation with tendon-slider mechanism. A mechanical finger with the mechanism was designed and integrated into a humanoid robotic hand-TH-2T Hand. The tendon-slider under-actuated finger proves simple but works well. In the design of the finger, the reaction force against a slider in the base segment produced by the grasped object was adopted to make the next segment bend, which relies on a special tendon-slider mechanism. Further, all the five fingers on the TH-2T Hand applies the indirect under-actuated mechanism. Compared with those full-active fingers, the finger and hand designed in this paper have strong self-adaptation to the grasped object; compared with those direct under-actuations, the designed mechanism effectively simplifies the structure, decreases the volume and costs of manufacturing.
KW - Humanoid robot
KW - Indirect under-actuation
KW - Robotic hand
KW - Self-adaptive grasp
KW - Tendon-slider mechanism
UR - https://www.scopus.com/pages/publications/77951443530
UR - https://www.scopus.com/pages/publications/77951443530#tab=citedBy
U2 - 10.1109/ROBIO.2009.5420428
DO - 10.1109/ROBIO.2009.5420428
M3 - Conference contribution
SN - 9781424447756
T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
SP - 1790
EP - 1795
BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Y2 - 19 December 2009 through 23 December 2009
ER -