DEXDEB – Application of DEXtrous Robotic Hands for DEBoning Operation

  • Guowu Wei
  • Franck Stephan
  • Vahid Aminzadeh
  • Jian S. Dai
  • Grigoré Gogu
Conference paper
Part of the Springer Tracts in Advanced Robotics book series (STAR, volume 94)


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.


Dexterous robotic hand metamorphic hand deboning operation robot-human co-working hyper-flexible cell 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Nof, S.Y.: Handbook of Industrial Robot. John Wiley & Sons Inc. (1985)Google Scholar
  2. 2.
    Guo, J., Lee, K.: Musculoskeletal Model for Analyzing Manipulation Deformation of an Automated Poultry-meat Deboning System. In: 2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1081–1086. IEEE Press, New York (2011)CrossRefGoogle Scholar
  3. 3.
    Purnell, G.: Robotic Equipment in the Meat Industry. Meat Science 49(1), 297–307 (1998)CrossRefGoogle Scholar
  4. 4.
    Daley, W.D.R., Wyvill, J.C., Thompson, J.C., Holcombe, W.D., McMurray, G.V.: Robotics and the poultry processing industry. In: Khodabandehloo, K. (ed.) Robotics in Meat, Fish and Poultry Processing, pp. 48–69 (1993)Google Scholar
  5. 5.
    Pettersson, A., Ohlsson, T., Davis, S., Gray, J.O., Dodd, T.J.: A hygienically designed force gripper for flexible handling of variable and easily damaged natural food products. Innovative Food Science & Emerging Technologies 12(3), 344–351 (2011)CrossRefGoogle Scholar
  6. 6.
    Sorensen, S.E., Jensen, N.M., Jensen, W.K.: Automation in the production of pork meat. In: Khodabandehloo, K. (ed.) Robotics in Meat, Fish and Poultry Processing, pp. 115–147 (1993)Google Scholar
  7. 7.
    Kusuda, Y.: The use of robots in the Japanese food industry. Industrial Robot: An International Journal 37(6), 503–508 (2010)CrossRefGoogle Scholar
  8. 8.
    Khodabandehloo, K.: Robotic handling and packaging of poultry products. Robotica 8(4), 285–297 (1990)CrossRefGoogle Scholar
  9. 9.
    Gurie, G., Sabourin, L., Gogu, G., Lemoine, E.: Robotic Cell for Beef Carcass Primal Cutting and Pork Ham Boning in Meat Industry. Industrial Robot: An International Journal 37(6), 532–541 (2010)CrossRefGoogle Scholar
  10. 10.
    Essahbi, N., Bouzgarrou, B., Gogu, G.: Soft Material Modeling for Robotic Manipulation. Applied Mechanics and Materials 162, 184–193 (2012)CrossRefGoogle Scholar
  11. 11.
    Guire, G., Sabourin, L., Gogu, G., Lemoine, E.: Robotic Cell with Redundant Architecture and Force Control: Application to Cutting and Boning. In: 2010 IEEE 19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD), pp. 99–104 (2010)Google Scholar
  12. 12.
    Zhou, D., Daley, W., McMurray, G.: Kinematics and Verification of a Deboning Device. In: 2009 International Conference on Mechatronics and Automation, ICMA 2009, pp. 2143–2148. IEEE Press, New York (2009)CrossRefGoogle Scholar
  13. 13.
    Friedrich, W.E., Spooner, N.R., Lim, P.K.: Fish deboning requires knowledge of anatomy. Industrial Robot: An International Journal 22(5), 18–21 (1995)CrossRefGoogle Scholar
  14. 14.
    Dai, J.S., Taylor, P.M., Liu, H., Lin, H.: Folding Algorithms and Mechanisms Synthesis for Robotic Ironing. International Journal of Clothing Science and Technology 16(1/2), 204–214 (2004)CrossRefGoogle Scholar
  15. 15.
    Wurdemann, H., Aminzadeh, V., Dai, J.S., Reed, J., Purnell, G.: Category-based Food Ordering Processes. Trends in Food Science & Technology 22(1), 14–20 (2011)CrossRefGoogle Scholar
  16. 16.
    Rodriguez-Leal, E., Dai, J.S.: From Origami to a New Class of Centralized 3-DOF Parallel Mechanisms. In: Proceedings of the ASME 2007 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, DETC2007-35516 (2007)Google Scholar
  17. 17.
    Brisson, M.: Method for Preparing a Piece of Meat, Element for Grasping a Piece of Meat. PCT patent, WO/1998/030107 (1998)Google Scholar
  18. 18.
    Jolliffe, I.T.: Principal Component Analysis, 2nd edn. Springer (2002)Google Scholar
  19. 19.
    Aminzadeh, V., Walker, R., Cupcic, U., Elias, H., Dai, J.S.: Friction Compensation and Control Strategy for the Dexterous Robotic Hands. In: Dai, J.S., et al. (eds.) Advances in Reconfigurable Mechanisms and Robots I, pp. 697–706 (2012)Google Scholar
  20. 20.
    Gan, D., Dai, J.S., Liao, Q.: Mobility Change in Two Types of Metamorphic Parallel Mechanisms. Transactions of the ASME: Journal of Mechanisms and Robotics 1(4), 041007 (2009)Google Scholar
  21. 21.
    Dai, J.S., Rees Jones, J.: Kinematics and Mobility Analysis of Carton Folds in Packing Manipulation Based on the Mechanism Equivalent. Journal of Mechanical Engineering Science, Proc. IMechE, Part C 216(10), 959–970 (2002)CrossRefGoogle Scholar
  22. 22.
    Dai, J.S.: Robotic Hand with Palm Section Comprising Several Parts Able to Move Relative to Each Other, Patent WO/2005/105391, Priority Date: 10 November 2005, International Patent PCT/GB2005/001665, UK Patent GB04 095 48.5, 2004, Europe Patent: EP05740527.6, US Patent: US 11/587,766, China Patent: CN200580018189.6Google Scholar
  23. 23.
    Wei, G., Dai, J.S., Wang, S., Luo, H.: Kinematic Analysis and Prototype of a Metamorphic Anthropomorphic Hand with a Reconfigurable Palm. International Journal of Humanoid Robotics 8(3), 459–479 (2011)CrossRefGoogle Scholar
  24. 24.
    Wei, G., Aminzadeh, V., Dai, J.S.: Prehension Analysis and Manipulability of an Anthropomorphic Metamorphic Hand with a Reconfigurable Palm. In: Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics, pp. 1116–1121. IEEE Press, New York (2011)CrossRefGoogle Scholar
  25. 25.
    Dai, J.S., Wang, D.L., Cui, L.: Orientation and Workspace Analysis of the Multingered Metamorphic Hand Metahand. IEEE Transactions on Robotics 25(4), 942–947 (2009)CrossRefGoogle Scholar
  26. 26.
    Cui, L., Dai, J.S.: Posture, Workspace, and Manipulability of the Metamorphic Multifingered Hand with an Articulated Palm. Transactions of the ASME: Journal of Mechanisms and Robotics 3(2), 021001 (2011)Google Scholar
  27. 27.
    Liu, T., Ting, K.: On the Rotatability of Spherical N-bar Chains. Transactions of the ASME: Journal of Mechanical Design 116(5), 920–923 (1994)CrossRefGoogle Scholar
  28. 28.
    Wei, G., Aminzadeh, V., Emmanouil, E., Dai, J.S.: Structure Design, Kinematics and Grasp Constraint of a Metamorphic Robotic Hand for Deboning Operation. In: Proceeding of Design Engineering Technical Conferences & Computers and Information in Engineering Conference, DETC2013-13408 (2013)Google Scholar
  29. 29.
    Murray, R.M., Li, Z., Sastry, S.S.: A Mathematical Introduction to Robotic Manipulation. CRC Press (1994)Google Scholar

Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Guowu Wei
    • 1
  • Franck Stephan
    • 2
  • Vahid Aminzadeh
    • 1
  • Jian S. Dai
    • 1
  • Grigoré Gogu
    • 2
  1. 1.Centre for Robotics ResearchKing’s College LondonLondonUnited Kingdom
  2. 2.French Institute for Advanced Mechanics and Blaise Pascal UniversityAubière CedexFrance

Personalised recommendations