Development of anthropomorphic Robot Hand SKK Robot Hand I

Taehun Kang; Hyoukryeol Choi; Moonsang Kim

doi:10.1007/BF02984394

Development of anthropomorphic Robot Hand SKK Robot Hand I

Taehun Kang, Hyoukryeol Choi, Moonsang Kim

Division of Intelligent Robot

Research output: Contribution to journal › Article › peer-review

4 Scopus citations

Abstract

In this paper, a three-fingered anthropomorphic robot hand, called SKK Robot Hand I, is presented. By employing a two-DOF joint mechanism, called Double Active Universal Joint (abbreviated as DAUJ from now on) as its metacarpal joint, the hand makes it possible to mimic humanlike motions. We begin with addressing the motivation of the design and mention how the anthropomorphic feature of a human is realized in the design of SKK Hand I. Also, the mechanism of the hand is explained in detail, and advantages in its modular design are discussed. The proposed hand is developed for use as a testbed for dextrous manipulation. It is expected to resolve the increasing demand for robotic applications in unstructured environments. We describe its hardware construction as well as the controller structure including the preliminary results of experiments.

Original language	English
Pages (from-to)	230-238
Number of pages	9
Journal	KSME International Journal
Volume	17
Issue number	2
DOIs	https://doi.org/10.1007/BF02984394
State	Published - Feb 2003

Bibliographical note

Funding Information:
vided bya grant from the AdvancedR obotics ResearchC enterKorea Instituteo f Sciencea nd Technology( KIST, Service robot project,c on-tract number2 001-0532-000a)n d theS afetya nd Structural Integrity ReseaCrecnht era t the Sung Kyun Kwan University.

Keywords

Anthropomorphic
DAUJ
Robot Hand

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10.1007/BF02984394

Cite this

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title = "Development of anthropomorphic Robot Hand SKK Robot Hand I",

abstract = "In this paper, a three-fingered anthropomorphic robot hand, called SKK Robot Hand I, is presented. By employing a two-DOF joint mechanism, called Double Active Universal Joint (abbreviated as DAUJ from now on) as its metacarpal joint, the hand makes it possible to mimic humanlike motions. We begin with addressing the motivation of the design and mention how the anthropomorphic feature of a human is realized in the design of SKK Hand I. Also, the mechanism of the hand is explained in detail, and advantages in its modular design are discussed. The proposed hand is developed for use as a testbed for dextrous manipulation. It is expected to resolve the increasing demand for robotic applications in unstructured environments. We describe its hardware construction as well as the controller structure including the preliminary results of experiments.",

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author = "Taehun Kang and Hyoukryeol Choi and Moonsang Kim",

note = "Funding Information: vided bya grant from the AdvancedR obotics ResearchC enterKorea Instituteo f Sciencea nd Technology( KIST, Service robot project,c on-tract number2 001-0532-000a)n d theS afetya nd Structural Integrity ReseaCrecnht era t the Sung Kyun Kwan University.",

year = "2003",

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doi = "10.1007/BF02984394",

language = "English",

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journal = "KSME International Journal",

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AU - Choi, Hyoukryeol

AU - Kim, Moonsang

N1 - Funding Information: vided bya grant from the AdvancedR obotics ResearchC enterKorea Instituteo f Sciencea nd Technology( KIST, Service robot project,c on-tract number2 001-0532-000a)n d theS afetya nd Structural Integrity ReseaCrecnht era t the Sung Kyun Kwan University.

PY - 2003/2

Y1 - 2003/2

N2 - In this paper, a three-fingered anthropomorphic robot hand, called SKK Robot Hand I, is presented. By employing a two-DOF joint mechanism, called Double Active Universal Joint (abbreviated as DAUJ from now on) as its metacarpal joint, the hand makes it possible to mimic humanlike motions. We begin with addressing the motivation of the design and mention how the anthropomorphic feature of a human is realized in the design of SKK Hand I. Also, the mechanism of the hand is explained in detail, and advantages in its modular design are discussed. The proposed hand is developed for use as a testbed for dextrous manipulation. It is expected to resolve the increasing demand for robotic applications in unstructured environments. We describe its hardware construction as well as the controller structure including the preliminary results of experiments.

AB - In this paper, a three-fingered anthropomorphic robot hand, called SKK Robot Hand I, is presented. By employing a two-DOF joint mechanism, called Double Active Universal Joint (abbreviated as DAUJ from now on) as its metacarpal joint, the hand makes it possible to mimic humanlike motions. We begin with addressing the motivation of the design and mention how the anthropomorphic feature of a human is realized in the design of SKK Hand I. Also, the mechanism of the hand is explained in detail, and advantages in its modular design are discussed. The proposed hand is developed for use as a testbed for dextrous manipulation. It is expected to resolve the increasing demand for robotic applications in unstructured environments. We describe its hardware construction as well as the controller structure including the preliminary results of experiments.

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KW - Robot Hand

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DO - 10.1007/BF02984394

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JF - KSME International Journal

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ER -

Development of anthropomorphic Robot Hand SKK Robot Hand I

Abstract

Bibliographical note

Keywords

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