Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 28 for “"Robotic Hand"”.
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Inter-fingercoordinated DC motor driven grasping robotic hand
Many robotic hands have individually driven joints, which is both energy inefficient and complicated to control. An alternative method includes employing only one motor to control multiple joints. Investigating humanoid hand movements used in everyday tasks, graduate students working with Professor …
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Design and development of an anthropomorphic metamorphic robotic hand
This work presents analysis of the 4-fingered robotic hand and is a continuation of the Bachelor’s thesis “Design and Development of an Anthropomorphic Metamorphic Robotic Hand”. First, general comparison between scientific and commercial robotic hands is introduced. Specification and structure of …
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Fuzzy logic for task space telemanipulation of a five fingered robotic hand
This work presents a fuzzy logic based HandyMan (Hand gesture commands for grasping and manipulation) system to recognize the operator's hand gestures during task space telemanipulation. A combination of joint positions may be shared between at least two manipulation gestures. To avoid …
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Design and Control of a Multi-Fingered Soft-Rigid Hybrid Robotic Hand
In robot hands, compliance improves the quality of grasps and allows for robustness in contact with the environment, which is why soft robot hands, which are inherently compliant, generate such interest despite being complex to control and model. In prior work, our lab developed a soft-rigid hybrid …
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Design and Integration of a Form-Fitting General Purpose Robotic Hand Exoskeleton
This thesis explores the field of robotic hand exoskeletons and their applications. These systems have emerged in popularity over the years, due to their potentials to advance the medical field as assistive and rehabilitation devices, and the field of virtual reality as haptic gloves. Although much …
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A Review of Anthropomorphic Robotic Hand Technology and Data Glove Based Control
… the development and control of anthropomorphic robotic hands has been a highly popular sub-discipline in robotics research. Because the human hand is an extremely sophisticated system, both in its mechanical and sensory abilities, engineers have been fascinated with replicating these abilities …
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Reduction of dimensionality of a cellular actuator array for driving a robotic hand
… axes for a large DOF (degree of freedom) robotic system based on dimensionality reduction. An array of SMA actuators is segmented into many independently controlled, spatially discrete volumes, each contributing a small displacement to create a large motion. Segmented Binary Control is …
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A modular fingertip design for normal force feedback control of a 3-fingered dextrous robotic hand
Despite the advances in dextrous hand mechanics over the past decade, fingertip force remains predominantly controlled by flexor cable tension and joint position. A modular fingertip normal force sensor is developed here from basic semiconducting elastomer devices. Construction techniques are …
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A robotic hand that utilizes ergonomic evaluation as feedback to improve human robot collaboration in soldering applications
People never seem to have enough hands. There are many tools that aim to address this challenge, ranging from the ubiquitous benchtop vise to the "helping hands" commonly used for soldering. However, these tools do not measure up to their human counterparts. They cannot adjust the position or …
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The design of a hybrid DC motor/SMA actuated robotic hand based on physiological and anatomical synergies
… to the design and control of multi-fingered hands using hybrid DC motor-Shape Memory Alloy (SMA) array actuators is presented in this thesis. The fundamental design concept is based on the principle of motor control synergy, a biomechanics terminology for coordinated motion generation. …
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Design of a humanoid hand using segmented shape memory alloy actuators
… progress in the past two decades, the field of robotics has yet to produce a robotic hand with the same dexterity as the human hand. There has yet to even be a functioning robotic hand of the same size and weight as the human hand. These deficiencies can be attributed to the size, weight and …
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Methods and Applications of Controlling Biomimetic Robotic Hands
Vast improvements in robotics and wireless communication have made teleoperated robots significantly more prevalent in industry, defense, and research. To help bridge the gap for these robots in the workplace, there has been a tremendous increase in research toward the development of biomimetic …
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Robotic Finger Hardware and Controls Design for Dynamic Piano Playing
Robotic manipulators have traditionally been designed with the industrial world in mind. High degrees of freedom (DOF) robotic hands are starting to enable a new section of tasks like grasping unfamiliar objects with complex shapes, in-hand re-orientation, and even solving Rubik's cubes. This work …
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EvoGrip: design and model predictive control of a modular, cost-efficient robot hand for research applications
… implementation of EvoGrip, a modular 3D-printed robotic hand developed as an open platform for advanced control experimentation. Leveraging open-source designs, EvoGrip enhances accessibility, adaptability, and dexterity. Its mechanical structure, derived from the Inmoov arm, was refined to …
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A Single-Actuated and Cable-Driven Assistive Glove Designed For Farming Application
Hand impairments have a significant impact on quality of life and career performance. This effect is specially bold in the agricultural community, since farming activities involve continuously carrying and lifting heavy objects. Assistive robotic technologies hold considerable promise in …
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Simulation-Based Reinforcement Learning Policy Optimization for Tactile Manipulation: A Case Study on the Eyesight Hand
Robotic manipulation remains a complex and unsolved challenge due to the need for adaptability across diverse objects and tasks. In this work, we explore how to train effective manipulation policies using reinforcement learning in simulation for the Eyesight Hand: a novel, low-cost, tactile-enabled …
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Automatic, Careful Online Packing of Groceries Using a Soft Robotic Manipulator and Multimodal Sensing
This thesis describes the use of soft robotic manipulators with multimodal sensing for estimating the physical properties of unknown objects to enable sorting and packing. Although bin packing has been a key benchmark task for robotic manipulation, the community has mainly focused on the placement …
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Robotic Fingerspelling Hand for the Deaf-Blind
… construction, testing, and programming of a robotic hand capable of performing basic fingerspelling to help bridge the communication gap. The hand parts were modeled using SolidWorks and fabricated using an Objet rapid prototyper. Its fingers are actuated by 11 Maxon motors, and its wrist is …
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Electronic bidirectional interfaces to the peripheral nervous system for prosthetic applications
… is in fact the realization of a prosthetic hand controlled using neural signals. The commercially available prosthesis are based on Electromyographic (EMG) signals, their use implies unnatural movements for the patient that needs a special training to develop the control capabilities over …
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Soft, Compliant Tactile Robotic Manipulators
When we look to the future of soft robotics and manipulation, we begin to look towards sensory-rich and compliant grasping mechanisms. Not only do we want to capitalize on the significant advantages in safety and adaptability that soft robots have, we also want to incorporate high-resolution …
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