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An open-source anthropomorphic robot hand system: HRI hand.

Hyeonjun Park¹, Donghan Kim¹

¹Dept. of Electrical Engineering, Kyung Hee University, Republic of Korea.

|May 2, 2022

Summary

This summary is machine-generated.

We developed an affordable, open-source robotic hand called HRI hand, featuring human-like pre-shaping motion for collaborative robot manipulators. This 3D-printable system offers a low-cost alternative to commercial end-effectors.

Keywords:

Anthropomorphic robot hand Four-bar linkage mechanism Modular robot finger Multi-finger end-effector Under-actuated mechanism

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Area of Science:

Robotics
Mechanical Engineering
Human-Robot Interaction

Background:

Commercial robotic end-effectors are often expensive, limiting accessibility for research and development.
Under-actuated mechanisms offer potential for compliant and human-like grasping motions.
Open-source hardware and software are crucial for accelerating innovation in robotics.

Purpose of the Study:

To present an open-source, low-cost anthropomorphic robot hand system (HRI hand) for collaborative robot manipulators.
To enable pre-shaping motion similar to the human hand for improved object interaction.
To provide a modular and customizable research platform for robotic end-effector development.

Main Methods:

Designed an anthropomorphic robot hand with a five-finger, modular structure.
Implemented a two four-bar linkage under-actuated mechanism for pre-shaping capabilities.
Developed supporting software including URDF, Python nodes, and RViz packages for ROS integration.
Released all hardware CAD files and software source codes as open-source.

Main Results:

The HRI hand system can be constructed for approximately $500 using 3D printing, significantly reducing cost compared to commercial options.
The under-actuated design enables pre-shaping motion, allowing the hand to conform to object shapes before full grasp.
The modular finger design allows for customization and adaptation to various end-effector configurations.
Complete ROS support is provided, facilitating integration into existing robotic systems.

Conclusions:

The HRI hand represents a cost-effective and accessible research platform for advancing robotic grasping and manipulation.
Open-sourcing the design democratizes access to advanced robotic hand technology.
The system's modularity and pre-shaping capabilities offer significant advantages for human-robot collaboration and diverse application development.