The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Development of Under-actuated Robotic Hand Mechanism for Self-adaptive Grip and Caging Grasp

형상적응형 파지와 케이징 파지가 가능한 부족구동 기반 로봇 의수 메커니즘 개발

  • Sin, Minki (Department of Medical Robotics, Korea Institute of Machinery & Materials) ;
  • Cho, Jang Ho (Department of Medical Robotics, Korea Institute of Machinery & Materials) ;
  • Woo, Hyun Soo (Department of Medical Robotics, Korea Institute of Machinery & Materials) ;
  • Kim, Kiyoung (Department of Medical Robotics, Korea Institute of Machinery & Materials)
  • Received : 2022.08.29
  • Accepted : 2022.09.19
  • Published : 2022.11.30
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Abstract

This paper presents a simple and robust under-actuated robotic finger mechanism that enables self-adaptive grip, fingertip pinch, and caging grasp functions. In order to perform daily activities using hands, the fingers should be able to perform adaptive gripping and pinching motion, and the caging grasp function is required to realize natural gripping motions and improve grip reliability. However, general commercial prosthetic hands cannot implement all three functions because they use under-actuation mechanism and simple mechanical structure to achieve light-weight and high robustness characteristic. In this paper, new mechanism is proposed that maintains structural simplicity and implements all the three finger functions with simple one degree-of-freedom control through a combination of a four-bar linkage mechanism and a wire-driven mechanism. The basic structure and operating principle of the proposed finger mechanism were explained, and simulation and experiments using the prototype were conducted to verify the gripping performance of the proposed finger mechanism.

Keywords

Acknowledgement

This work was supported by the projects Development of Human Enhancement Medicine Technologies for Rehabilitation of Lower and Upper Extremity Motor Functions (KIMM, NK238D), and A light-weight wearable upper limb rehabilitation robot system and untact self-training and assessment platform customizable for individual patient (Ministry of Trade, Industry and Energy, 20014480, MT3140)

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