TY  - JOUR
U1  - Zeitschriftenartikel, wissenschaftlich - begutachtet (reviewed)
A1  - Weiner, Pascal
A1  - Neef, Caterina
A1  - Shibata, Yoshihisa
A1  - Nakamura, Yoshihiko
A1  - Asfour, Tamim
T1  - An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers
JF  - Sensors
N2  - Grasping and manipulation with anthropomorphic robotic and prosthetic hands presents a scientific challenge regarding mechanical design, sensor system, and control.  Apart from the mechanical design of such hands, embedding sensors needed for closed-loop control of grasping tasks remains a hard problem due to limited  space and required high level of integration of different components. In this paper we present a scalable design model of artificial fingers, which combines mechanical design and embedded electronics with a sophisticated multi-modal sensor system consisting of sensors for sensing normal and shear force, distance, acceleration, temperature, and joint angles. The design  is fully parametric, allowing automated scaling of the  fingers to arbitrary dimensions in the human hand spectrum. To this end, the electronic parts are composed of interchangeable modules that facilitate the echanical scaling of the fingers and are fully enclosed by the mechanical parts of the finger. The resulting design model allows deriving freely scalable and multimodally sensorised fingers for robotic and prosthetic hands. Four physical demonstrators are assembled and tested to evaluate the approach.
KW  - Handprothese
KW  - Sensorised fingers
KW  - Tactile sensors
KW  - Parametric model
KW  - Robotic fingers
KW  - Prosthetic fingers
KW  - Hand prostheses
KW  - Anthropomorphic robotic hands
KW  - Roboterhand
KW  - Taktiler Sensor
Y1  - 2019
UN  - https://nbn-resolving.org/urn:nbn:de:hbz:832-epub4-14715
SN  - 1424-8220
SS  - 1424-8220
U6  - https://doi.org/10.3390/s20010101
DO  - https://doi.org/10.3390/s20010101
VL  - 20
IS  - 1
SP  - 22
S1  - 22
PB  - MDPI
ER  -