{"id":{"repo_id":"vt","oai_identifier":"oai:vtechworks.lib.vt.edu:10919/87404"},"canonical_url":"https://search.dev.ndltd.org/etd/vt/oai:vtechworks.lib.vt.edu:10919/87404","repository":{"repo_id":"vt","name":"Virginia Tech","base_url":"https://vtechworks.lib.vt.edu/oai/request"},"display":{"title":"Adaptive, Anthropomorphic Robot Hands for Grasping and In-Hand Manipulation","abstract":"This thesis presents the design, modeling, and development of adaptive robot hands that are capable of performing dexterous, in-hand manipulation. The robot hand comprises of anthropomorphic robotic fingers, which employ an adaptive actuation mechanism. The mechanism achieves both flexion/extension and adduction/abduction, on the finger's metacarpophalangeal joint, by using two actuators. Moment arm pulleys are employed to drive the tendon laterally, such that an amplification on the abduction motion occurs, while also maintaining the flexion motion. Particular emphasis has been given to the modeling and the analysis of the actuation mechanism. Also, a model for spatial motion is provided that relates the actuation modes with the finger motion and the tendon force with the finger characteristics. For the hand design, the use of differential mechanisms simplifies the actuation scheme, as we utilize only two actuators for four fingers, achieving affordable dexterity. A design optimization framework assess the results of hand anthropometry studies to derive key parameters for the bio-inspired actuation design. The model assumptions are evaluated with the finite element method. The proposed finger has been fabricated with the Hybrid Deposition Manufacturing technique and the actuation mechanism's efficiency has been validated with experiments that include the computation of the finger workspace, the assessment of the force exertion capabilities, the demonstration of the feasible motions, and the grasping and manipulation capabilities. Also, the hand design is fabricated with off-the-shelf materials and rapid prototyping techniques while its efficiency has been validated using an extensive set of experimental paradigms that involved the execution of grasping and in-hand manipulation tasks with everyday objects.","abstract_html":"This thesis presents the design, modeling, and development of adaptive robot hands that are capable of performing dexterous, in-hand manipulation. The robot hand comprises of anthropomorphic robotic fingers, which employ an adaptive actuation mechanism. The mechanism achieves both flexion/extension and adduction/abduction, on the finger's metacarpophalangeal joint, by using two actuators. Moment arm pulleys are employed to drive the tendon laterally, such that an amplification on the abduction motion occurs, while also maintaining the flexion motion. Particular emphasis has been given to the modeling and the analysis of the actuation mechanism. Also, a model for spatial motion is provided that relates the actuation modes with the finger motion and the tendon force with the finger characteristics. For the hand design, the use of differential mechanisms simplifies the actuation scheme, as we utilize only two actuators for four fingers, achieving affordable dexterity. A design optimization framework assess the results of hand anthropometry studies to derive key parameters for the bio-inspired actuation design. The model assumptions are evaluated with the finite element method. The proposed finger has been fabricated with the Hybrid Deposition Manufacturing technique and the actuation mechanism's efficiency has been validated with experiments that include the computation of the finger workspace, the assessment of the force exertion capabilities, the demonstration of the feasible motions, and the grasping and manipulation capabilities. Also, the hand design is fabricated with off-the-shelf materials and rapid prototyping techniques while its efficiency has been validated using an extensive set of experimental paradigms that involved the execution of grasping and in-hand manipulation tasks with everyday objects.","abstract_has_math":false,"creators":["Kontoudis, Georgios Pantelis"],"institution":"Virginia Tech","degree_name":"Master of Science","degree_level":"masters","degree_discipline":"Mechanical Engineering","degree_department":"Mechanical Engineering","school":null,"contributors":[],"advisors":[],"committee_chairs":["Furukawa, Tomonari"],"committee_members":["Vamvoudakis, Kyriakos","Leonessa, Alexander","Asbeck, Alan T."],"year":2019,"date_issued":"2019-02-01","date_published":"2019-02-01","updated_at":"2026-07-22T22:20:16Z","subjects":["Underactuation","Tendon-Driven Mechanisms","Monolithic Fingers","Anthropomorphic Robot Hands","Grasping","In-Hand Manipulation"],"languages":[],"rights":["In Copyright"],"rights_urls":["http://rightsstatements.org/vocab/InC/1.0/"],"identifier_entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["vt_gsexam:18669"],"render_values":[{"text":"vt_gsexam:18669","href":null,"code":true}]}]},"links":{"outbound_url":"http://hdl.handle.net/10919/87404","outbound_label":"Handle","outbound_source":"dc:identifier.uri"},"metadata_groups":[{"id":"people","label":"People","entries":[{"key":"dc:contributor.committeechair","label":"Committee Chair","values":["Furukawa, Tomonari"]},{"key":"dc:contributor.committeemember","label":"Committee Member","values":["Vamvoudakis, Kyriakos","Leonessa, Alexander","Asbeck, Alan T."]},{"key":"dc:contributor.department","label":"Department","values":["Mechanical Engineering"]},{"key":"dc:creator","label":"Author","values":["Kontoudis, Georgios Pantelis"]}]},{"id":"academic_context","label":"Academic Context","entries":[{"key":"dc:date.accessioned","label":"Dc Date Accessioned","values":["2019-02-02T09:01:05Z"]},{"key":"dc:date.available","label":"Dc Date Available","values":["2019-02-02T09:01:05Z"]},{"key":"dc:date.issued","label":"Date","values":["2019-02-01"]},{"key":"dc:publisher","label":"Institution","values":["Virginia Tech"]},{"key":"dc:type","label":"Dc Type","values":["Thesis"]},{"key":"thesis:degree_discipline","label":"Discipline","values":["Mechanical Engineering"]},{"key":"thesis:degree_level","label":"Degree Level","values":["masters"]},{"key":"thesis:degree_name","label":"Degree Name","values":["Master of Science"]},{"key":"thesis:institution_name","label":"Thesis Institution Name","values":["Virginia Polytechnic Institute and State University"]}]},{"id":"subjects_keywords","label":"Subjects and Keywords","entries":[{"key":"dc:subject","label":"Dc Subject","values":["Underactuation","Tendon-Driven Mechanisms","Monolithic Fingers","Anthropomorphic Robot Hands","Grasping","In-Hand Manipulation"]}]},{"id":"language_rights","label":"Language and Rights","entries":[{"key":"dc:rights","label":"Dc Rights","values":["In Copyright"]},{"key":"dc:rights.uri","label":"Rights URI","values":["http://rightsstatements.org/vocab/InC/1.0/"]}]},{"id":"identifiers","label":"Identifiers","entries":[{"key":"dc:identifier.other","label":"Dc Identifier Other","values":["vt_gsexam:18669"]},{"key":"dc:identifier.uri","label":"Identifier URI","values":["http://hdl.handle.net/10919/87404"]}]},{"id":"additional","label":"Additional Metadata","entries":[{"key":"dc:description.abstract","label":"Abstract","values":["This thesis presents the design, modeling, and development of adaptive robot hands that are capable of performing dexterous, in-hand manipulation. The robot hand comprises of anthropomorphic robotic fingers, which employ an adaptive actuation mechanism. The mechanism achieves both flexion/extension and adduction/abduction, on the finger's metacarpophalangeal joint, by using two actuators. Moment arm pulleys are employed to drive the tendon laterally, such that an amplification on the abduction motion occurs, while also maintaining the flexion motion. Particular emphasis has been given to the modeling and the analysis of the actuation mechanism. Also, a model for spatial motion is provided that relates the actuation modes with the finger motion and the tendon force with the finger characteristics. For the hand design, the use of differential mechanisms simplifies the actuation scheme, as we utilize only two actuators for four fingers, achieving affordable dexterity. A design optimization framework assess the results of hand anthropometry studies to derive key parameters for the bio-inspired actuation design. The model assumptions are evaluated with the finite element method. The proposed finger has been fabricated with the Hybrid Deposition Manufacturing technique and the actuation mechanism's efficiency has been validated with experiments that include the computation of the finger workspace, the assessment of the force exertion capabilities, the demonstration of the feasible motions, and the grasping and manipulation capabilities. Also, the hand design is fabricated with off-the-shelf materials and rapid prototyping techniques while its efficiency has been validated using an extensive set of experimental paradigms that involved the execution of grasping and in-hand manipulation tasks with everyday objects."]},{"key":"dc:description.abstractgeneral","label":"General Abstract","values":["This thesis presents the design, modeling, and development of adaptive robot hands that are capable of performing selective interdigitation, robust grasping, and dexterous, in-hand manipulation. The robotic fingers employ an adaptive actuation mechanism. The design is minimal and the hand is capable of performing selective interdigitation, robust grasping, and dexterous, in-hand manipulation. Particular emphasis has been given to the modeling and the analysis of the actuation mechanism. For the hand design, the use of differential mechanisms simplifies the actuation scheme, as we utilize only two actuators for four fingers, achieving affordable dexterity. A design optimization framework assess the results of hand anthropometry studies to derive key parameters for the actuation design. The robotic fingers and the anthropomorphic hand were fabricated using off-the-self materials and additive manufacturing techniques. Several experiments were performed to validate the efficacy of the robot hand."]},{"key":"dc:description.degree","label":"Dc Description Degree","values":["Master of Science"]},{"key":"dc:format.medium","label":"Dc Format Medium","values":["ETD"]},{"key":"dc:title","label":"Title","values":["Adaptive, Anthropomorphic Robot Hands for Grasping and In-Hand Manipulation"]}]}],"canonical_facts":{"dc:contributor.committeechair":["Furukawa, Tomonari"],"dc:contributor.committeemember":["Vamvoudakis, Kyriakos","Leonessa, Alexander","Asbeck, Alan T."],"dc:contributor.department":["Mechanical Engineering"],"dc:creator":["Kontoudis, Georgios Pantelis"],"dc:date.accessioned":["2019-02-02T09:01:05Z"],"dc:date.available":["2019-02-02T09:01:05Z"],"dc:date.issued":["2019-02-01"],"dc:description.abstract":["This thesis presents the design, modeling, and development of adaptive robot hands that are capable of performing dexterous, in-hand manipulation. 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The model assumptions are evaluated with the finite element method. The proposed finger has been fabricated with the Hybrid Deposition Manufacturing technique and the actuation mechanism's efficiency has been validated with experiments that include the computation of the finger workspace, the assessment of the force exertion capabilities, the demonstration of the feasible motions, and the grasping and manipulation capabilities. Also, the hand design is fabricated with off-the-shelf materials and rapid prototyping techniques while its efficiency has been validated using an extensive set of experimental paradigms that involved the execution of grasping and in-hand manipulation tasks with everyday objects."],"dc:description.abstractgeneral":["This thesis presents the design, modeling, and development of adaptive robot hands that are capable of performing selective interdigitation, robust grasping, and dexterous, in-hand manipulation. The robotic fingers employ an adaptive actuation mechanism. The design is minimal and the hand is capable of performing selective interdigitation, robust grasping, and dexterous, in-hand manipulation. Particular emphasis has been given to the modeling and the analysis of the actuation mechanism. For the hand design, the use of differential mechanisms simplifies the actuation scheme, as we utilize only two actuators for four fingers, achieving affordable dexterity. A design optimization framework assess the results of hand anthropometry studies to derive key parameters for the actuation design. The robotic fingers and the anthropomorphic hand were fabricated using off-the-self materials and additive manufacturing techniques. Several experiments were performed to validate the efficacy of the robot hand."],"dc:description.degree":["Master of Science"],"dc:format.medium":["ETD"],"dc:identifier.other":["vt_gsexam:18669"],"dc:identifier.uri":["http://hdl.handle.net/10919/87404"],"dc:publisher":["Virginia Tech"],"dc:rights":["In Copyright"],"dc:rights.uri":["http://rightsstatements.org/vocab/InC/1.0/"],"dc:subject":["Underactuation","Tendon-Driven Mechanisms","Monolithic Fingers","Anthropomorphic Robot Hands","Grasping","In-Hand Manipulation"],"dc:title":["Adaptive, Anthropomorphic Robot Hands for Grasping and In-Hand Manipulation"],"dc:type":["Thesis"],"thesis:degree_discipline":["Mechanical Engineering"],"thesis:degree_level":["masters"],"thesis:degree_name":["Master of Science"],"thesis:institution_name":["Virginia Polytechnic Institute and State University"]},"updated_at":"2026-07-22T22:20:16Z"}