We found a match
Your institution may have access to this item. Find your institution then sign in to continue.
- Title
Study on anthropomorphic hand with biological and kinematic characteristics of the human hand.
- Authors
Ma, Shuai; Qin, Haoyi; Song, Jiafeng; Wang, Kejun; Xu, Shucai
- Abstract
The actuation of traditional anthropomorphic hands is relatively complex, and there is little research on humanoid skin. In view of the above problems, this study proposed an anthropomorphic hand with biological and kinematic characteristics of the human hand, including structural skeletal parts and humanoid skin. Firstly, the overall structure and control system of the anthropomorphic hand were designed. Then, the humanoid skin was fabricated and its physical and mechanical properties were tested. Based on the overall structure of the rope-driven anthropomorphic hand, its motion characteristics were simulated and analyzed using multi-body dynamics software ADAMS/Cable. Finally, control experiment verifies the performance of the anthropomorphic hand described in this paper. The results are that the proposed anthropomorphic hand can reproduce the movement characteristics of the human hand well, and can grip objects of different shapes, different sizes and different weights stably, with a maximum grip force of 11.91 N measured.
- Subjects
HUMAN mechanics; BIOMECHANICS; ROPE; CABLES; HUMAN beings
- Publication
Journal of Mechanical Science & Technology, 2024, Vol 38, Issue 9, p5065
- ISSN
1738-494X
- Publication type
Article
- DOI
10.1007/s12206-024-0840-3