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Function-oriented optimization design method for underactuated tendon-driven humanoid prosthetic hand

Frontiers of Mechanical Engineering 2022, Volume 17, Issue 3, doi: 10.1007/s11465-022-0696-0

Abstract: The loss of hand functions in upper limb amputees severely restricts their mobility in daily life. Wearing a humanoid prosthetic hand would be an effective way of restoring lost hand functions. In a prosthetic hand design, replicating the natural and dexterous grasping functions with a few actuators remains a big challenge. In this study, a function-oriented optimization design (FOD) method is proposed for the design of a tendon-driven humanoid prosthetic hand. An optimization function of different functional conditions of full-phalanx contact, total contact force, and force isotropy was constructed based on the kinetostatic model of a prosthetic finger for the evaluation of grasping performance. Using a genetic algorithm, the optimal geometric parameters of the prosthetic finger could be determined for specific functional requirements. Optimal results reveal that the structure of the prosthetic finger is significantly different when designed for different functional requirements and grasping target sizes. A prosthetic finger was fabricated and tested with grasping experiments. The mean absolute percentage error between the theoretical value and the experimental result is less than 10%, demonstrating that the kinetostatic model of the prosthetic finger is effective and makes the FOD method possible. This study suggests that the FOD method enables the systematic evaluation of grasping performance for prosthetic hands in the design stage, which could improve the design efficiency and help prosthetic hands meet the design requirements.

Keywords： function-oriented tendon driven prosthetic hand optimization humanoid underactuated

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Analysis and optimal design of an underactuated finger mechanism for LARM hand

Shuangji YAO, Marco CECCARELLI, Giuseppe CARBONE, Qiang ZHAN, Zhen LU

Frontiers of Mechanical Engineering 2011, Volume 6, Issue 3, Pages 332-343 doi: 10.1007/s11465-011-0229-8

Abstract:

This paper aims to present general design considerations and optimality criteria for underactuatedA numerical case of an underactuated robot finger design for Laboratory of Robotics and Mechatronics

Keywords： robotic finger underactuated mechanisms design considerations

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Gained switching-based fuzzy sliding mode control for a discrete-time underactuated robotic system with

Hui LI, Ruiqin LI, Jianwei ZHANG

Frontiers of Mechanical Engineering 2021, Volume 16, Issue 2, Pages 353-362 doi: 10.1007/s11465-020-0620-4

Abstract: The performance of controlling underactuated robotic systems can be further improved by the adoptionIn addition, an underactuated robotic system with uncertainties is studied to validate the effectiveness

Keywords： sliding-mode control robot control discrete-time uncertain systems fuzzy logic

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Stability and agility: biped running over varied and unknown terrain

Yang YI,Zhi-yun LIN

Frontiers of Information Technology & Electronic Engineering 2015, Volume 16, Issue 4, Pages 283-292 doi: 10.1631/FITEE.1400284

Abstract: A five-link biped with underactuated point foot is considered in simulations.

Keywords： Underactuated running biped Dynamic balance Varied and unknown terrain

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Control strategy for gait transition of an underactuated 3Dbipedal robot Research Articles

Hai-hui YUAN, Yi-min GE, Chun-biao GAN

Frontiers of Information Technology & Electronic Engineering 2019, Volume 20, Issue 8, Pages 1026-1035 doi: 10.1631/FITEE.1800206

Abstract: In this paper, we consider the gait transition of a five-link underactuated three-dimensional (3D) bipedalFinally, the effectiveness of the control strategy is illustrated on the underactuated 3D bipedal robot

Keywords： Gait transition Underactuated three-dimensional biped Event-based feedback controller Adaptive control