Conference proceeding
Introduction of a Gel Actuator for Use in the Design of a Humanoid Robotic Finger
IMCIC'11: THE 2ND INTERNATIONAL MULTI-CONFERENCE ON COMPLEXITY, INFORMATICS AND CYBERNETICS, VOL II
01 Jan 2011
Abstract
Humanoid robotic hands are the essential end effectors for a robot to complete tasks in human environments. Their hands need to perform restraining power grasps and dexterous precision grasps fixed similarly to the positions of human hand postures. Advanced universal robotic hands have previously utilized actuator systems in the form of pulley-cables and pneumatics. These systems often require large amounts hardware that cannot be contained in smaller structures like the humanoid robot Hubo. Hubo has shape adaptive hands that solely rely on a pulley cable mechanical system. Although Hubo has three joints per finger there is only one motor per finger leading to under-actuated fingers that fail to model precision gripping. A gel actuator has been developed for application in a newly designed humanoid robotic finger. By using this gel actuator in conjunction with an electromagnetic lock mechanism, one motor can power the three-degree of freedom robotic finger. The expected advantage in the new design is a proportional finger that has improved precision grip while maintaining power grasp adaptability.
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Details
- Title
- Introduction of a Gel Actuator for Use in the Design of a Humanoid Robotic Finger
- Creators
- Danielle Castley - Drexel UniversityPaul Oh - Drexel University
- Contributors
- N Callaos (Editor)H W Chu (Editor)W Lesso (Editor)M J Savoie (Editor)F Welsch (Editor)C D Zinn (Editor)
- Publication Details
- IMCIC'11: THE 2ND INTERNATIONAL MULTI-CONFERENCE ON COMPLEXITY, INFORMATICS AND CYBERNETICS, VOL II
- Conference
- IMCIC'11: THE 2ND INTERNATIONAL MULTI-CONFERENCE ON COMPLEXITY, INFORMATICS AND CYBERNETICS, 2nd
- Publisher
- Int Inst Informatics & Systemics
- Number of pages
- 6
- Resource Type
- Conference proceeding
- Language
- English
- Identifiers
- 991019348752504721
InCites Highlights
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- Web of Science research areas
- Computer Science, Cybernetics
- Computer Science, Information Systems
- Computer Science, Theory & Methods