TY - GEN
T1 - A Novel Underactuated Robotic Finger with Variable Stiffness Joints
AU - Teng, Zhicheng
AU - Xu, Guanghua
AU - Liang, Renghao
AU - Li, Min
AU - Zhang, Sicong
AU - Tao, Tangfei
N1 - Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - Existing robotic hands mostly consist of rigid finger mechanism with constant joint stiffness, leading to poor handling performance and even unexpected safety issues. This paper proposed a novel underactuated robotic finger with variable stiffness joints based on human finger anatomy and electrostatic adhesion(ESA) principle. The proposed finger is unique in the 3D printable one-piece body structure consisting of three similar joints, actuated by only one linear actuator to mimic the flexion/extension movement of the human finger. It is characterized by simple actuation, light weight, low cost and compliant grasp. We constructed a portable finger prototype to investigate the variable stiffness performance. It turns out that the joint stiffness shows a growing trend as the applied voltage increases, which verifies the effectiveness of this design. The proposed novel finger indicates potential applications in service robots and prosthetic hands.
AB - Existing robotic hands mostly consist of rigid finger mechanism with constant joint stiffness, leading to poor handling performance and even unexpected safety issues. This paper proposed a novel underactuated robotic finger with variable stiffness joints based on human finger anatomy and electrostatic adhesion(ESA) principle. The proposed finger is unique in the 3D printable one-piece body structure consisting of three similar joints, actuated by only one linear actuator to mimic the flexion/extension movement of the human finger. It is characterized by simple actuation, light weight, low cost and compliant grasp. We constructed a portable finger prototype to investigate the variable stiffness performance. It turns out that the joint stiffness shows a growing trend as the applied voltage increases, which verifies the effectiveness of this design. The proposed novel finger indicates potential applications in service robots and prosthetic hands.
UR - https://www.scopus.com/pages/publications/85077880419
U2 - 10.1109/EMBC.2019.8857405
DO - 10.1109/EMBC.2019.8857405
M3 - 会议稿件
C2 - 31947054
AN - SCOPUS:85077880419
T3 - Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS
SP - 5305
EP - 5309
BT - 2019 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 41st Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2019
Y2 - 23 July 2019 through 27 July 2019
ER -