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An Adaptive Actuation Mechanism for Anthropomorphic Robot Hands.

George P Kontoudis¹, Minas Liarokapis², Kyriakos G Vamvoudakis³

¹Department of Mechanical Engineering, Virginia Tech, Blacksburg, VA, United States.

Frontiers in Robotics and AI

|January 27, 2021

Summary

This study introduces an adaptive actuation mechanism for anthropomorphic robot hands, enabling simultaneous flexion and abduction motions. This innovation enhances robot hand dexterity and manipulation capabilities through advanced tendon-driven systems.

Keywords:

bioinspiration robot hands robotic fingers tendon-driven mechanisms underactuation

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Area of Science:

Robotics
Mechanical Engineering
Biomechanics

Background:

Development of anthropomorphic robot hands requires sophisticated actuation mechanisms.
Existing mechanisms often struggle with simultaneous multi-DOF finger movements.

Purpose of the Study:

To present an adaptive, tendon-driven actuation mechanism for dexterous robot hands.
To model, analyze, and validate the performance of this novel mechanism.

Main Methods:

Utilized moment arm pulleys for simultaneous flexion/extension and adduction/abduction.
Developed models for spatial motion, static balance, and flexure joint stiffness.
Fabricated the mechanism using hybrid deposition manufacturing and conducted experimental validation.

Main Results:

The mechanism successfully achieved simultaneous abduction and flexion.
Experimental validation confirmed reachable workspace, force exertion, and grasping capabilities.
The fabricated anthropomorphic robot hand demonstrated improved dexterity and manipulation.

Conclusions:

The proposed adaptive actuation mechanism enhances robot hand dexterity and manipulation.
It offers a viable solution for developing more capable anthropomorphic robotic hands.