A Two-Fingered Anthropomorphic Robotic Hand with Contact-Aided Cross Four-Bar Mechanisms as Finger Joints

Guochao Bai, Jieyu Wang, Xianwen Kong

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

This paper presents an anthropomorphic design of a robotic finger with contact-aided cross four-bar (CFB) linkages. Anatomical study shows that finger joints have a complex structure formed by non-symmetric surfaces and usually produce complex movement than a simple revolute motion. The articular system of human hand is firstly investigated. Kinematics of a CFB mechanism is then analyzed and computer aided design of fixed and moving centrodes of CFB mechanism is presented. Gripping analysis of human hand shows two easily ignored components of a finger, fingernail and soft fingertip. Based on the range of motion of the joints of the most flexible thumb finger, a two-joint anthropomorphic finger is developed by using contact-aided CFB linkages which can also be used for joint design of prosthetic knee. Prototype of a two-fingered hand is manufactured by using 3D printing technology and gripping of a wide range of objects is tested.

Original languageEnglish
Title of host publicationBiomimetic and Biohybrid Systems
Subtitle of host publication5th International Conference, Living Machines 2016, Edinburgh, UK, July 19-22, 2016. Proceedings
PublisherSpringer International Publishing
Pages28-39
Number of pages12
ISBN (Electronic)9783319424170
ISBN (Print)9783319424163
DOIs
Publication statusPublished - 2016
Event5th International Conference on Biomimetic and Biohybrid Systems 2016: Living Machines - Edinburgh, United Kingdom
Duration: 19 Jul 201622 Jul 2016

Publication series

NameLecture Notes in Computer Science
PublisherSpringer Internatiomal Publishing
Volume9793
ISSN (Print)0302-9743

Conference

Conference5th International Conference on Biomimetic and Biohybrid Systems 2016
Country/TerritoryUnited Kingdom
CityEdinburgh
Period19/07/1622/07/16

Keywords

  • Anthropomorphic
  • Contact-aided
  • Cross four-bar
  • Robotic finger

ASJC Scopus subject areas

  • Computer Science(all)
  • Theoretical Computer Science

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