Designing Anthropomorphic Robot Hand with Active Dual-Mode Twisted String Actuation Mechanism

In the paper, using the active dual-mode twisted string actuation (TSA) mechanism and tiny tension sensors on the tendon strings, an anthropomorphic robot hand is newly designed in a compact manner. Thanks to the active dual-mode TSA mechanism, which is a miniaturized transmission, the proposed robot hand dose have a wide range of operation in terms of the grasping force and speed. It experimentally produces maximally the fingertip force 31.3 N and minimally the closing time of 0.5 s in average. Also, tiny tension sensor with the dimension of 4.7(width)4.0(height)10.75(length) mm are newly presented and embedded at the fingertips in order to measure the tension on the tendon strings, which would allow the grasping force control. The kinetic and kinematic analyses are performed and the performance is verified by experiments.
sites.google.c...
msc.kaist.ac.kr/
Related Reference
[1] S. H. Jeong, K.-S. Kim, and S. Kim, "Development of a Robotic Finger with an Active Dual-mode Twisting Actuation and a Miniature Tendon Tension Sensor," presented at the IEEE International Conference on Advanced and Intelligent Mechatronics, 2016.
[2] S. H. Jeong, K.-S. Kim, and S. Kim, "Designing Anthropomorphic Robot Hand with Active Dual-Mode Twisted String Actuation Mechanism and Tiny Tension Sensors", IEEE Robotics and Automation Letter, 2017
[3] S. H. Jeong, K.-S. Kim, and S. Kim, "Control of and Experimentation on an Active Dual-Mode Twisted String Actuation Mechanism," presented at the IEEE International Conference on Advanced and Intelligent Mechatronics, 2017.
[4] S. H. Jeong, Y. J. Shin and K. S. Kim, "Design and Analysis of the Active Dual-Mode Twisting Actuation Mechanism," in IEEE/ASME Transactions on Mechatronics, vol. PP, no. 99, pp. 1-1 (in press, DOI:10.1109/TMECH.2017.2767783).

[@TheGreatTimSheridan]

I tried using twisted string in the 90s, but I was worried about where properties. you might try weaving two cables together side-by-side with a third smaller string and then coating it with rubber cement. It should still coil, resist friction and also behave more controlled. It's an amazing effort.! Now if you could train it to listen to someone clicking their tongue quietly they could instruct the hand what to do and it could be completely computer controlled.

[@markhor7727]

You inspired me and I brought first position in science exhibition at my school.

[@francogonzalez1985]

congrats

[@markhor7727]

Thanks

[@3bmon3em]

Congrats 🎉🎉❤️

[@markhor7727]

Ahmed abdelmonem reyad thanks bro

[@markhor7727]

Shafqat Wasim oy Subhan

[@SkynetT800]

you must get an amazing euphoric feeling when you create.👍

[@shyne2643]

try it :)

[@CvnDqnrU]

Very elegant solution. Don't let patent trolls steal it from you.

[@magiclay]

awesome..reinventing the wheel!!

[@TheGreatTimSheridan]

metallic screw threads Seem to be very popular

[@psye_borg]

I love love love it great design very inspiring

[@goodeldash]

Luke Skywalker would be proud

[@sidnewsound]

Muito bom. Design inspirador.

[@jesselam5867]

That's honestly so cool!!!!!

[@mikegLXIVMM]

How many cycles will the 'Tendon actuator' last before it breaks?

[@artbyrobot1]

Great job guys I'm using a similar design for my project

[@pitot1988]

Any reference or link to your design so we all can learn? Thanks

[@jakublepczak5457]

Amazing stuff! Using the references for my masters thesis!

[@denicahya5506]

The best robot hand

[@dokeyseng3526]

Goodwork!

[@VoidNumber]

Any sources of T1000?

[@denicahya5506]

Great prothestic arm

[@mr.tesla2837]

Nice work.

[@bluestonebest1893]

kira robotics: let me give you a hand.

[@jeremiasgoicovich2681]

woowww that's a really good job

[@User32155]

Good job

[@felineboy]

What kind of rope would be suitable for such actuators?

[@dyk0905]

멋지네~석환아 고생했다ㅎ

[@BUDUSHEE.]

Но как узнать массу и не прикасаясь чтобы не сыграть футбол с замаскированным свинцовым мячом... ... ...🤫🤕👻👺⚡👽

[@waiduscle175]

설명에 한국말도 써주시면 좋겠네여..ㅠ

[@flepix]

Nice.

[@jamessparks7331]

Does it sense specific pressure patterns applied to it? When dude was shaking hands with it does it feel it and respond?

[@kami1o427]

what motor(s) are you using for the twisting and therefore motion of the fingers? I'm thinking of doing something similar for a final I have coming up (I'll ofc credit you)...

[@arafat877]

Can you share with me the datasheet of your robot hand ???

[@TheOne-jg7fd]

take me on as your student

[@dwiwardana5161]

nice

[@denicahya5506]

Great

[@user-og7rq7ir4o]

How much cost will be

[@williamhuang5329]

Hanzhen harmonic drive gear , robot arm gear, over 30 years experience

[@Rctdcttecededtef]

What actuator do they use in the video?

[@luisdumuihual1490]

wow

[@antongarin4083]

А на гитаре сыграть?!( Смогет?????!!!!!

[@LOTFI__TECH]

great job . is it open-source ?

[@msckaist5538]

Thank you. This is not yet open source. We are aiming to commercialize it by supplementing the technology in the future.

[@VoidNumber]

@@msckaist5538 any info about t600?

[@emiliohuizar3549]

Yes, I would love noisy robot :/

[@programcoffee1080]

WOW!!!

[@madjimms]

Why not just use hydraulics?

[@kingofnothing2260]

Lol I thought of this but decided against it. Turned it into something else though

[@Rctdcttecededtef]

Like what

[@croc244]

What material are you using for the strings

[@seokhwanjeong7883]

It is called Spectra or Dynnema

[@istvanfrank9201]

Ejjha ügyes

[@cre8iveone699]

I'm so tired of seeing robot hands with only one thumb. Two or three thumbs per hand would be far superior.

[@da9564]

I need someone to create something for me. I dont know how to go about finding someone.

[@francogonzalez1985]

its not cheap, you rather do it yourself

[@da9564]

@@francogonzalez1985 its a simple project

[@anywaystohighway]

Quite lame if its only a gradual on and off...

[@CNC-Guru]

Too slow and too heavy

[@yoashuain1]

I did this with Legos when I was about 8 or 9 y. o..

[@yoashuain1]

My point is, it looks good but the lines will break.