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An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers
Pascal Weiner1, Caterina Neef1, Yoshihisa Shibata2
1KIT Department of Informatics, Karlsruhe Institute of Technology, 76137 Karlsruhe, Germany.
Sensors (Basel, Switzerland)
|December 28, 2019
Summary
This study introduces a scalable artificial finger design with integrated multi-modal sensors for robotic and prosthetic hands. The parametric model enables automated scaling for diverse applications in grasping and manipulation.
Area of Science:
- Robotics and biomechatronics
- Artificial intelligence and control systems
- Biomedical engineering and prosthetics
Background:
- Anthropomorphic robotic and prosthetic hands face challenges in mechanical design, sensor integration, and control for grasping.
- Limited space and high component integration hinder embedding sophisticated sensors for closed-loop control in artificial hands.
Purpose of the Study:
- To present a scalable design model for artificial fingers incorporating mechanical design, embedded electronics, and a multi-modal sensor system.
- To enable automated scaling of artificial fingers to human hand dimensions.
- To facilitate the development of freely scalable, multi-modal sensorized fingers for advanced robotic and prosthetic applications.
Main Methods:
- Developed a fully parametric design model for artificial fingers.
- Integrated a multi-modal sensor system including normal/shear force, distance, acceleration, temperature, and joint angle sensors.
- Utilized interchangeable electronic modules enclosed within the mechanical finger structure for scalability.
- Assembled and tested four physical demonstrators to validate the design approach.
Main Results:
- Demonstrated a scalable design model for artificial fingers with integrated multi-modal sensing capabilities.
- Successfully integrated sensors for force, distance, acceleration, temperature, and joint angles within a compact finger structure.
- Validated the parametric design's ability to automatically scale fingers to human hand dimensions.
- Confirmed the feasibility of deriving freely scalable and sensorized fingers through physical demonstrators.
Conclusions:
- The presented scalable design model effectively addresses the challenge of integrating sophisticated multi-modal sensors into artificial fingers.
- This approach facilitates the creation of adaptable robotic and prosthetic hands with enhanced grasping and manipulation capabilities.
- The modular and parametric design offers a versatile solution for future advancements in anthropomorphic hand technology.
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