UTHM HAND: kinematics behind the dexterous anthropomorphic robotic hand

Mohd Zaid, Amran and Yaqub, M. Atif (2012) UTHM HAND: kinematics behind the dexterous anthropomorphic robotic hand. In: International Conference on Intelligent Robotics, Automation and Manufacturing 2012 (IRAM 2012), 28-30 November 2012, Kuala Lumpur .

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Abstract

This paper describes a novel wireless robotic hand system. The system is operated under master-slave configuration. A human operator teleoperates the slave robotic hand by wearing a master glove embedded with BendSensors. Bluetooth has been chosen as the communication medium between master and slave. The master glove is designed to acquire the joint angles of the operator’s hand and send to slave robotic hand. The slave robotic hand imitates the movement of human operator. The UTHM robotic hand comprises of five fingers (four fingers and one thumb), each having four degrees of freedom (DOF), which can perform flexion, extension, abduction, adduction and also circumduction. For the actuation purpose, pneumatic muscles and springs are used. The paper exemplifies the design for the robotic hand and provides the kinematic analysis of all the joints of the robotic hand. It also discusses different robotic hands that have been developed before date.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:robotic hand;tele-operation;multi-fingered hand;pneumatic muscles;olenoid valves;kinematics
Subjects:T Technology > TJ Mechanical engineering and machinery > TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
Divisions:Faculty of Electrical and Electronic Engineering > Department of Electrical Technology
ID Code:3343
Deposited By:Ms Aryanti Ahmad
Deposited On:10 Dec 2012 14:41
Last Modified:12 Mar 2013 15:09

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