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Gearing up and accelerating cross‐fertilization between academic and industrial robotics research in Europe: pp 217–235Cite as

DEXDEB – Application of DEXtrous Robotic Hands for DEBoning Operation

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Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 94))

Abstract

This paper presents for the first time an application study of using dexterous robotic hands for deboning operation so as to establish a human-robot co-working platform for cutting, deboning and muscle extraction operation in meat industry. By setting up a test rig consisting of a support and a customized knife integrated with force sensors and utilizing a modified data glove, manual ham deboning operations are carried out providing essential information and background for the robotic hand design, appropriate force/torque and position sensors identification, and human-robot co-working platform trajectory planning. Principle component analysis method is then employed for trajectory mapping and planning associated with the knife peak coordinates, and concept of force cone is introduced leading to an efficient algorithm for trajectory planning. Further, design and kinematics of a metamorphic hand are investigated laying a background for measuring manipulation and grasp quality of the proposed robotic hand. The above experimental, theoretical, hardware and software preparations finally lead to the applications of using two dexterous robotic hands, i.e. one Shadow C6M left hand and one KCL G4 metamorphic hand to replace human left hand in deboning operation. The experiment thus laid background work for the robotization of meat industry and gave insight into the benchmarking of utilizing dexterous hand in deboning operation constructing a human-robot co-working hyper-flexible cell.

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Author information

Authors and Affiliations

  1. Centre for Robotics Research, King’s College London, Strand, London, WC2R 2LS, United Kingdom

    Guowu Wei, Vahid Aminzadeh & Jian S. Dai

  2. French Institute for Advanced Mechanics and Blaise Pascal University, Campus de Clermont-Ferrand/Les Cézeaux, CS 20265, 63175, Aubière Cedex, France

    Franck Stephan & Grigoré Gogu

Authors
  1. Guowu Wei
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  2. Franck Stephan
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  3. Vahid Aminzadeh
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  4. Jian S. Dai
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  5. Grigoré Gogu
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Editor information

Editors and Affiliations

  1. Department of Informatics VI, Technische Universität München, Garching, Germany

    Florian Röhrbein

  2. Feup Campus, Inesc Porto, Porto, Portugal

    Germano Veiga

  3. Dipartimento di Ingegneria Industriale e dell’Informazione, Seconda Università degli Studi di Napoli, Aversa, Italy

    Ciro Natale

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© 2014 Springer International Publishing Switzerland

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Wei, G., Stephan, F., Aminzadeh, V., Dai, J.S., Gogu, G. (2014). DEXDEB – Application of DEXtrous Robotic Hands for DEBoning Operation. In: Röhrbein, F., Veiga, G., Natale, C. (eds) Gearing up and accelerating cross‐fertilization between academic and industrial robotics research in Europe:. Springer Tracts in Advanced Robotics, vol 94. Springer, Cham. https://doi.org/10.1007/978-3-319-02934-4_11

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  • DOI: https://doi.org/10.1007/978-3-319-02934-4_11

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-02933-7

  • Online ISBN: 978-3-319-02934-4

  • eBook Packages: EngineeringEngineering (R0)

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