منابع مشابه
An adaptive neural controller for a tendon driven robotic hand
In this paper we present our ongoing work on the control of a tendon driven robotic hand by an adaptive learning mechanism evolved using a simulator developed over the last years. We present the “ligand-receptor” concept that can be easily used by artificial evolution to explore (a) the growing of a neural network, (b) value systems and (c) learning mechanisms systematically for a given task (i...
متن کاملDevelopment of Tendon Based Dexterous Robot Hand
Dexterous robot hand development is a very challenging and interesting research topic. A dexterous robot hand may serve as a prosthesis hand for disabled patients or to serve as a gripping device for robotic arms. In most of previous studies, the dexterous robot hands are developed based on the directed gear train controls and tendon wired controls. The directed gear train control based design ...
متن کاملAn investigation of the transmission system of a tendon driven robot hand
The transmission sys tem of the Utah /MIT Deztrous Hand (UMDH) is investigated theoretically and experimentally. I t i s shown that the f r ic t ion of the routing pulleys is not negligible and should be considered i n the force control of the UMDH. I n the frequency range of the pneumatic actuators (8OHz), tendons act like springs and the first mode of the tendons is above that frequency range.
متن کاملDevelopment of a Tendon-Driven Dexterous Hand for Fine Manipulation
This paper presents a tendon-driven dexterous hand capable of object manipulation. This dexterous hand is anatomically sound and mimics the musculoskeletal structure of human fingers including the passive mechanism, bone geometry, tendon network. One of the key features of this prosthetic hand is the ability to perform fine finger manipulation motions such as holding a pen with two fingers and ...
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ژورنال
عنوان ژورنال: The Journal of Korea Robotics Society
سال: 2014
ISSN: 1975-6291
DOI: 10.7746/jkros.2014.9.4.258