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An introduction of the biomimetic hand testbed: skeletal structure and actuation

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AN INTRODUCTION OF THE BIOMIMETIC HAND TESTBED:

SKELETAL STRUCTURE AND ACTUATION

Norbert Sárkány , Dr. György Cserey, Dr. Péter Szolgay

PÁZMÁNY PÉTER CATHOLIC UNIVERSITY

FACULTY OF INFORMATION TECHNOLOGY AND BIONICS

Budapest, 4th October, 2013

http://www.itk.ppke.hu

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OUTLINE

Introduction

System design

First impressions of the functional test and results

Manufacturing

Conclusions

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INTRODUCTION

http://www.shadowrobot.com/products/dexterous-hand/

http://robothand.eu/en/products/robotic_hands/robot_hand_gifu_hand_iii/

http://neurobotics.cs.washington.edu/projects.html

DOF Actuators In hand sensors ShadowHand 24 Steper,

air muscles

BioTac Tactile Sensor

Gifu Hand 16 Servo motor Nitta resistive touch sensors

ACT Hand 24 stepper -

TouchBionics 12 -

RslSteeper 12 -

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SYSTEM DESIGN

Flexor Extensor

Stepper motor

sensor

(5)

SYSTEMDESIGN- FINGER

Flexor

Extensor

(6)

SYSTEM DESIGN - ARTICULATION

(7)

SYSTEM DESIGN

muscle spindle runways

Tension receptor firing pattern

increase

Gamma-efferent synapsis

Motoneuron, Runway fibers

Muscle activity

HIGH level control LOW

level control

Position sensor

µC Motor

Current

PC

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SYSTEM DESIGN

Amp/

Phas e

Holding Torque oz-in

Holding Torque

N-m

Resistance Ohm/Phas

e

Industanc e mH/Phase

Inertia oz-in

2

Weigh t Lbs.

Number of Leads

4118S-09 0.90 45.0 0.32 5.3 6.7 0.18 0.40 4

TLE5012B

- 360 ° angle Hall sensor

-15 bit representation of absolute angle value on the output

(resolution of 0.01 ° )

- shunt resistor: 1m Ω

- Max voltage drop: 1 mV

- Power supply: 12 Volt

(9)

FUNCTIONAL TEST

a b

c d

a, initial position manually set

b, expected angle: 45 °

c, expected angle: 30 ° achieved angle: ~25 °

d, end position

0 ° 0 °

0 °

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MANUFACTURING

Model material: Rigid Opaque white (VeroWhitePlus)

Support material: FullCure® 705 non-toxic gel-like photopolymer support Layer thickness: 28 micron

Resolution: 600 x 600 x 900 dpi

Objet24

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CONCLUSIONS & FUTURE WORKS

• Basic system design are specified

• The test bed is made

• Functional test have been carried out

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CONCLUSIONS & FUTURE WORKS

(13)

CONCLUSIONS & FUTURE WORKS

Measure tendon, ligament and articular capsule strain

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THANK YOU FOR YOUR ATTENTION!

Hivatkozások

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