Underactuated Robot Hand with Remote Center of Motion Mechanism

My research is on development a under-actuated robot hand with Remote Center of Motion mechanism to integrate tactile sensor. The motivation for making such a robot hand is from human hand. The human hand has the ability to control the shape of various objects. One of the most important elements of this dexterity is the ability to sense objects with touch. I was inspired by the development of a robot hand with a continuous surface layer of a tactile sensor that covers the entire palm. Traditional robotic finger designs reduce the surface area of ​​the finger as it moves. Therefore, the sensor cannot be placed on the entire surface. To solve this problem I am using a remote center motion mechanism. This helps keep the center of rotation of the joint outside the fingers. Lastly, encoders are used for all joints to control the robot hand. Provides information about joint rotation. The high-density 3-axis force tactile sensor is used to collect grasping data and operate the object.

2019年7月 - 2020年9月