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Composed continuum mechanism for compliant mechanical postural synergy: An anthropomorphic hand design example
- Source :
- Mechanism and Machine Theory. 132:108-122
- Publication Year :
- 2019
- Publisher :
- Elsevier BV, 2019.
-
Abstract
- Continuum mechanisms have recently been used in various manipulator designs, often for medical applications. Instead of forming manipulators, a multi-backbone continuum mechanism, in a composed configuration, can be alternatively used as a transmission unit to generate an arbitrary number of translating outputs that are linearly combined from two independent inputs. This CCM (Composed Continuum Mechanism), applicable in other design scenarios, is applied as mechanical postural synergies of an anthropomorphic robotic hand. In this hand, three actuators actuate the CCM in its coordinated motion mode to drive the eleven hand joints according to two synergy inputs to form synergy-based hand poses in a pre-grasp phase. Then, the CCM closes the fingers in its synchronized motion mode. Joint-level compliance was selectively introduced based on a statics analysis to help achieve the stable grasping and pinching of many daily life objects. The compliance calculation, postural synergy synthesis, system descriptions and experimental characterizations of this hand with Compliant Mechanical Postural Synergy (the CoMPS hand) are expounded. The efficacy of the hand, demonstrated by the experimental results, can inspire its use as a prosthesis, as a training device for synergy control, or in a humanoid robot, showing the potentials of the proposed CCM.
- Subjects :
- 0209 industrial biotechnology
Computer science
Continuum (topology)
Mechanical Engineering
Bioengineering
02 engineering and technology
Computer Science Applications
Mechanism (engineering)
Hand joint
020303 mechanical engineering & transports
020901 industrial engineering & automation
0203 mechanical engineering
Transmission (telecommunications)
Mechanics of Materials
Control theory
Motion Mode
Actuator
Statics
Humanoid robot
Subjects
Details
- ISSN :
- 0094114X
- Volume :
- 132
- Database :
- OpenAIRE
- Journal :
- Mechanism and Machine Theory
- Accession number :
- edsair.doi...........a7fcf3cc1f6f46c2c41c16e1c669cb4d