Design and control of a multifingered anthropomorphic robotic hand / Ahmed Jaffar ... [et al.]
This work describes a multifingered anthropomorphic robotic hand with fourteen degrees of freedom which is able to mimic the functional motions of a biological hand especially in handling complex objects. The actuation mechanisms consisting of micro servo-motors, pulleys and belts are connected to t...
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2011
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my.uitm.ir.668722022-09-19T02:02:26Z https://ir.uitm.edu.my/id/eprint/66872/ Design and control of a multifingered anthropomorphic robotic hand / Ahmed Jaffar ... [et al.] Ahmed, Jaffar Bahari, Mohd Bahari Cheng, Yee Low Jaafar, Roseleena Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General) Robotics. Robots. Manipulators (Mechanism) This work describes a multifingered anthropomorphic robotic hand with fourteen degrees of freedom which is able to mimic the functional motions of a biological hand especially in handling complex objects. The actuation mechanisms consisting of micro servo-motors, pulleys and belts are connected to the finger joints and thereby bending and extending the fingers. Two kinds of sensors, i.e. force sensor and light dependent resistor, are integrated into the system. The robotic hand can be controlled via a graphical user interface embedded with control codes or a joy stick integrated with a control board. Furthermore, the robotic hand is able to operate autonomously with the aid of the sensory elements and the embedded control software. Workability tests showed the capability of the system to move every finger individually and to perform grasping tasks on objects with varying sizes and geometries such as a tennis ball and a screw driver. IJENS Publishers 2011 Article PeerReviewed text en https://ir.uitm.edu.my/id/eprint/66872/1/66872.pdf Design and control of a multifingered anthropomorphic robotic hand / Ahmed Jaffar ... [et al.]. (2011) International Journal of Mechanical & Mechatronics Engineering, 11 (4). pp. 24-31. |
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Mechanical devices and figures. Automata. Ingenious mechanisms.Robots (General) Robotics. Robots. Manipulators (Mechanism) Ahmed, Jaffar Bahari, Mohd Bahari Cheng, Yee Low Jaafar, Roseleena Design and control of a multifingered anthropomorphic robotic hand / Ahmed Jaffar ... [et al.] |
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This work describes a multifingered anthropomorphic robotic hand with fourteen degrees of freedom which is able to mimic the functional motions of a biological hand especially in handling complex objects. The actuation mechanisms consisting of micro servo-motors, pulleys and belts are connected to the finger joints and thereby bending and extending the fingers. Two kinds of sensors, i.e. force sensor and light dependent resistor, are integrated into the system. The robotic hand can be controlled via a graphical user interface embedded with control codes or a joy stick integrated with a control board. Furthermore, the robotic hand is able to operate autonomously with the aid of the sensory elements and the embedded control software. Workability tests showed the capability of the system to move every finger individually and to perform grasping tasks on objects with varying sizes and geometries such as a tennis ball and a screw driver. |
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Article |
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Ahmed, Jaffar Bahari, Mohd Bahari Cheng, Yee Low Jaafar, Roseleena |
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Ahmed, Jaffar Bahari, Mohd Bahari Cheng, Yee Low Jaafar, Roseleena |
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Ahmed, Jaffar |
title |
Design and control of a multifingered anthropomorphic robotic hand / Ahmed Jaffar ... [et al.] |
title_short |
Design and control of a multifingered anthropomorphic robotic hand / Ahmed Jaffar ... [et al.] |
title_full |
Design and control of a multifingered anthropomorphic robotic hand / Ahmed Jaffar ... [et al.] |
title_fullStr |
Design and control of a multifingered anthropomorphic robotic hand / Ahmed Jaffar ... [et al.] |
title_full_unstemmed |
Design and control of a multifingered anthropomorphic robotic hand / Ahmed Jaffar ... [et al.] |
title_sort |
design and control of a multifingered anthropomorphic robotic hand / ahmed jaffar ... [et al.] |
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IJENS Publishers |
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2011 |
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https://ir.uitm.edu.my/id/eprint/66872/1/66872.pdf https://ir.uitm.edu.my/id/eprint/66872/ |
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