UTHM hand: modelling and simulation of dexterous anthropomorphic hand
Human hands are a critical part of human body. This paper describes a multi fingered dexterous anthropomorphic hand, developed by the authors. The focus of the hand is the replacement of human operators in hazardous environments and also in environments where zero tolerance is observed for the human...
| Main Authors: | , , |
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| Format: | Conference or Workshop Item |
| Published: |
2013
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| Subjects: | |
| Online Access: | http://eprints.uthm.edu.my/4357/ http://eprints.uthm.edu.my/4357/1/SCI%2D49.pdf |
| Summary: | Human hands are a critical part of human body.
This paper describes a multi fingered dexterous
anthropomorphic hand, developed by the authors. The focus of
the hand is the replacement of human operators in hazardous
environments and also in environments where zero tolerance is
observed for the human errors. The robotic hand will comprise of
five fingers (four fingers and one thumb) each having four
degrees of freedom (DOF) which can perform flexion, extension,
abduction, adduction and also circumduction. For the actuation
purpose pneumatic muscles and springs will be used. The robotic
hand will be controlled by a specially designed glove, which the
human operator will wear. The glove is embedded with multiple
BendSensors to track the movement of all the joint of the
operator's hand. The paper exemplifies the mathematical
modelling and simulation for the robotic hand. |
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