A versatile hand for manipulators
- 1 October 1988
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Control Systems Magazine
- Vol. 8 (5), 20-24
- https://doi.org/10.1109/37.7738
Abstract
Current research on a versatile mechanical hand for robotic arms is described. This mechanical hand is a self-contained, autonomous system capable of executing high-level commands from a supervisory computer. It consists of parallel fingers powered by a DC motor and controlled by a microcomputer embedded in the hand housing. Sensors are integrated in the hand for measuring grasp force of fingers and forces and torques applied between the arm and the surrounding environment. Fingers can be moved in position control, velocity control, or force control modes, and all collected data are transmitted to the supervisory computer. Data on performance and effectiveness in teleoperation experiments are presented.Keywords
This publication has 9 references indexed in Scilit:
- A strategy for grasp synthesis with multifingered robot handsPublished by Institute of Electrical and Electronics Engineers (IEEE) ,2005
- The design and control of a robot finger for tactile sensingJournal of Robotic Systems, 1988
- Design of tactile sensing systems for dextrous manipulatorsIEEE Control Systems Magazine, 1988
- An Anthropomorphic Robot Finger for Investigating Artificial Tactile PerceptionThe International Journal of Robotics Research, 1987
- Development of a novel intelligent robotic manipulatorIEEE Control Systems Magazine, 1987
- Integrated multi-sensory control of space robot handPublished by American Institute of Aeronautics and Astronautics (AIAA) ,1985
- Control and Geometrical Considerations for an Articulated Robot HandThe International Journal of Robotics Research, 1985
- The UTAH/M.I.T. Dextrous Hand: Work in ProgressThe International Journal of Robotics Research, 1984
- Object-Handling System for Manual IndustryIEEE Transactions on Systems, Man, and Cybernetics, 1979