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An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers

  • 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.

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Author:Pascal Weiner, Caterina Neef, Yoshihisa Shibata, Yoshihiko Nakamura, Tamim Asfour
Parent Title (English):Sensors
Year of Completion:2019
Document Type:Article
Date of first Publication:2019/12/23
Date of Publication (online):2020/07/08
GND-Keyword:Handprothese; Roboterhand; Taktiler Sensor
Tag:Anthropomorphic robotic hands; Hand prostheses; Parametric model; Prosthetic fingers; Robotic fingers; Sensorised fingers; Tactile sensors
Page Number:22
Institutes:Anlagen, Energie- und Maschinensysteme (F09) / Fakultät 09 / Institut für Produktentwicklung und Konstruktionstechnik
Dewey Decimal Classification:600 Technik, Medizin, angewandte Wissenschaften
Open Access:Open Access
Licence (German):License LogoCreative Commons - CC BY - Namensnennung 4.0 International