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  4. Design of a Highly Biomimetic and Fully-Actuated Robotic Finger
 
conference paper

Design of a Highly Biomimetic and Fully-Actuated Robotic Finger

Tian, Li
•
Thalmann, Nadia Magnenat  
•
Zheng, Jianmin
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January 1, 2019
2019 Ieee Symposium Series On Computational Intelligence (Ieee Ssci 2019)
IEEE Symposium Series on Computational Intelligence (SSCI)

During design a mechanical structure such as a robotic finger, modeling parts and designing joints are two time-consuming steps. This paper presents a method for design and fabrication of a humanoid robotic finger that intends to mimic the human finger in terms of tendon, bones, ligaments and the pulley systems which aims to generate a mechanise rapidly. The method is inspired by the anatomy and biomechanics of human hand, and focuses on bones, joints and actuation systems, with the aim of creating a customised finger that has the similar degrees of freedom and ranges of motion of a human finger. Specifically, we propose to create the personalised 3D models of finger's bones by adapting a template to the data acquired by scanning the real hand, which are then fabricated by 3D printing. Low cost and easy-to-get materials such as Nylon cables and silicon rubber are used to build the tendon sheaths and the joints. We design a "3 layer cascade cable driven system" built upon eight driven cables and four servo motors for simulating all possible four Degree of Freedom (DOF) of the finger. As a result, we present a highly biomimetic and fully-actuated robotic finger, which can achieve more DOFs and larger ranges of motion compared to existing humanoid robotic hands. Particularly, the experiments validate that our robotic finger is capable of achieving all 11 standard finger gestures as a human finger.

  • Details
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Type
conference paper
DOI
10.1109/SSCI44817.2019.9002870
Web of Science ID

WOS:000555467202066

Author(s)
Tian, Li
Thalmann, Nadia Magnenat  
Zheng, Jianmin
Thalmann, Daniel  
Date Issued

2019-01-01

Publisher

IEEE

Publisher place

New York

Published in
2019 Ieee Symposium Series On Computational Intelligence (Ieee Ssci 2019)
ISBN of the book

978-1-7281-2485-8

Total of pages

6

Start page

2382

End page

2387

Subjects

Computer Science, Artificial Intelligence

•

Computer Science

•

biologically-inspired robots

•

dexterous manipulation

•

additive manufacturing

•

model

•

hand

Editorial or Peer reviewed

REVIEWED

Written at

EPFL

EPFL units
VRLAB  
Event nameEvent placeEvent date
IEEE Symposium Series on Computational Intelligence (SSCI)

Xiamen, PEOPLES R CHINA

Dec 06-09, 2019

Available on Infoscience
August 30, 2020
Use this identifier to reference this record
https://infoscience.epfl.ch/handle/20.500.14299/171227
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