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The Design of an Open-Source 3D Printable Humanoid Robotic Hand: CHUCHU

Volume 4: Biomedical and Biotechnology; Design, Systems, and Complexity(2022)

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Abstract
Abstract One of the heavily desired aspects of human functionality to implement into robotics is the dexterity of our hands for manipulating objects. As it stands, there is a healthy market for robotic hands; however, the market is heavily weighted on either end of the price-functionality spectrum. A hand can provide exceptional human-like features and flexibility but is priced far out of range for small groups or individuals. Or the hand is below $2k but has limited characteristics that mimic the human hand. This project details the Cognitive Hand Unit for Collaboration with Human Users (CHUCHU), a humanoid robotic hand designed to be affordable, accessible, and comparable in features to other solutions on the market. Its 3D-printed fingers feature fully actuated joints that are controlled by linear actuators with positional feedback, while a spring tendon system is used to manipulate the underactuated joints to keep them compliant. The fingers feature force sensors to provide feedback to the PCB electronics containing the microcontroller and circuitry. The microcontroller utilizes Micro-ROS to receive and send feedback to Linux workstations for overall control. The resulting iterations of the fingers were subjected to mechanical stress testing for qualification and comparison. Along with this, an analysis of the inverse kinematics of the design is presented in this paper.
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