UTHM hand: modelling and simulation of dexterous anthropomorphic hand

Mohd Zaid, Amran and Yaqub, M. Atif and Hanafi, Dirman (2013) UTHM hand: modelling and simulation of dexterous anthropomorphic hand. In: 2013 International Conference on Systems, Control and Informatics (SCI 2013), 28-30 September 2013, Venice, Italy.

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Abstract

Human hands are a critical part of human body. This paper describes a multi fingered dexterous anthropomorphic hand, developed by the authors. The focus of the hand is the replacement of human operators in hazardous environments and also in environments where zero tolerance is observed for the human errors. The robotic hand will comprise 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 will be used. The robotic hand will be controlled by a specially designed glove, which the human operator will wear. The glove is embedded with multiple BendSensors to track the movement of all the joint of the operator's hand. The paper exemplifies the mathematical modelling and simulation for the robotic hand.

Item Type:Conference or Workshop Item (Paper)
Uncontrolled Keywords:robotic hand; multi-fingered hand; dexterous hand; anthropomorphic hand; pneumatic muscles
Subjects:T Technology > TJ Mechanical engineering and machinery > TJ210.2-211 Mechanical devices and figures. Automata. Ingenious mechanisms.
ID Code:4357
Deposited By:Normajihan Abd. Rahman
Deposited On:11 Oct 2013 11:47
Last Modified:21 Jan 2015 16:10

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