Abstract
Robot hand is an end effector for manipulation. For the robots to perform dexterous tasks, many joints are necessary. For the anthropomorphic systems, general configuration of one hand involves about 20 joints, which is almost comparable to that of whole body of a humanoid robot. Large number of joints, in general, increases the mechanical complexity, reduces admissible force, and deteriorates robustness. Tendon-driven system is an important technology in realizing a robot hand with both the dexterity and robustness. There are several basic structures categorized by the number of actuators used in the system, such as N type, 2N type, N + 1 type, and underactuated type. Also, there are choices in tendon routing that are advantageous in reducing the friction or the complexity of the system. Tension measurement on the tendon is another consideration when the force controllability of the hand is important. In this chapter, basic theory on tendon-driven systems is introduced. The tendon-driven hands with N-type tendon system with intrinsic actuation and underactuated hand with extrinsic actuation are presented as the case studies.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
M.G. Catalano, G. Grioli, E. Farnioli, A. Serio, C. Piazzaand, A. Bicchi, Adaptive synergies for the design and control of the Pisa/IIT softhand. Int. J. Robot. Res. 33(5), 768–782 (2014). doi: 10.1177/0278364913518998
M.R. Cutkosky, Grasp choice, grasp models,and the design of hands for manufacturing tasks. IEEE Trans. Robot. Autom. 5(3), 269–279 (1989). doi: 10.1109/70.34763
M. Grebenstein, A. Albu-Schäffer, T. Bahls, M. Chalon, O. Eiberger, W. Friedl, R. Gruber, S. Haddadin, U. Hagn, R. Haslinger, H. Höppner, S. Jörg, M. Nickl, A. Nothhelfer, F. Petit, J. Reill, N. Seitz, T. Wimböck, S. Wolf, T. Wüsthoff, G. Hirzinger, The DLR hand arm system, in Proceedings of International Conference on Robotics and Automation, 2011, pp. 3175–3182. doi: https://doi.org/10.1109/ICRA.2011.5980371
M. Grebenstein, M. Chalon, W. Friedl, S. Haddadin, T. Wimböck, G. Hirzinger, R. Siegwart, The hand of the DLR hand arm system: designed for interaction. Int J Robot. Res. 31(13), 1531–1555 (2012). doi: 10.1177/0278364912459209
S. Hirose, S. Ma, Coupled tnedon-driven multijoint manipulator, in Proceedings of IEEE International Conference on Robotics and Automation, 1991, pp. 1268–1275. doi: https://doi.org/10.1109/ROBOT.1991.131786
S.C. Jacobsen, E.K. Iversen, D.F. Knutti, R.T. Johnson, K.B. Biggers, Design of the Utah/M.I.T. dextrous hand, in Proceedings of IEEE International Conference on Robotics and Automation, vol. 3, 1986, pp. 1520–1532. doi: https://doi.org/10.1109/ROBOT.1986.1087395
S.C. Jacobsen, J.E. Wood, D.F. Knutti, K.B. Biggers, E.K. Iversen, The Utah/MIT dextrous hand: work in progress, in Proceedings of International Symposium of Robotics Research, 1984, pp. 601–653.
H. Kaminaga, J. Ono, Y. Shimoyama, T. Amari, Y. Katayama, Y. Nakamura, Anthropomorphic robot hand with hydrostatic cluster actuator and detachable passive wire mechanism, in Proceedings of IEEE International Conference on Humanoid Robots, 2009, pp. 1–6. doi: https://doi.org/10.1109/ICHR.2009.5379528
H. Kaminaga, T. Yamamoto, J. Ono, Y. Nakamura, Backdrivable miniature hydrostatic transmission for actuation of anthropomorphic robot hands, in Proceedings of IEEE International Conference on Humanoid Robots, 2007, pp. 36–41. doi: https://doi.org/10.1109/ICHR.2007.4813846
M. Kaneko, K. Yokoi, K. Tanie, On a new torque senosor for tendon drive fingers. IEEE Trans. Robot. Autom. 6(4), 501–507 (1990). doi: 10.1109/70.59362
T. Kang, H. Kaminaga, Y. Nakamura, A robot hand driven by hydraulic cluster actuators, in Proceedings of IEEE International Conference on Humanoid Robots, 2014, pp. 39–44. doi: https://doi.org/10.1109/HUMANOIDS.2014.7041335
I.A. Kapandji, The Physiology of the Joints, vol. 1, 5th edn., Upper Limb. (Churchill Livingstone, 1982)
A. Morecki, Synthesis and control of the anthropomorphic two-handed manipulator, in Proceedings of 10th International Symposium on Industrial Robots, 1980, pp. 461–474.
R. Ozawa, K. Hashirii, H. Kobayashi, Design and control of underactuated tendon-driven mechanisms, in Proceedings of IEEE International Conference on Robotics and Automation, 2009, pp. 1522–1527. doi: https://doi.org/10.1109/ROBOT.2009.5152222
R. Ozawa, H. Kobayashi, K. Hashirii, Analysis, classification, and design of tendon-driven mechanisms. IEEE Trans. Robot. 30(2), 396–410 (2014). doi: https://doi.org/10.1109/TRO.2013.2287976
F. Röthling, R. Haschke, J.J. Steil, H. Ritter, Platform portable anthropomorphic grasping with the Bielefeld 20-DOF Shadow and 9-DOF TUM hand, in Proceedings of IEEE International Conference on Intelligent Robots and Systems, 2007, pp. 2951–2956. doi: https://doi.org/10.1109/IROS.2007.4398963
J.K. Salisbury, Design and control of an articulated hand, in Proceedings of the 1st International Symposium on Design and Synthesis, 1984
J.K. Salisbury, J.J. Craig, Articulated hands: force control and kinematic issues. Int. J. Robot. Res. 1(1), 4–17 (1982). doi: 10.1177/027836498200100102
A. Schmitz, U. Pattacini, F. Nori, L. Natale, G. Metta, G. Sandini, Design, realization and sensorization of the dexterous icub hand, in Proceedings of IEEE International Conference on Humanoid Robots, 2010, pp. 186–191. doi: https://doi.org/10.1109/ICHR.2010.5686825
T. Treratanakulwong, H. Kaminaga, Y. Nakamura, Low-friction tendon-driven robot hand with carpal tunnel mechanism in the palm by optimal 3D allocation of pulleys, in Proceedingsof IEEE International Conference on Robotics and Automation, 2014, pp. 6739–6744. doi: https://doi.org/10.1109/ICRA.2014.6907854
T. Yamashita, Mechanical fingers controlled by machine and their applications to materials handling. J. Soc. Instrum. Control. Eng. 3(6), 429–439 (1964). doi: https://doi.org/10.11499/sicejl1962.3.429 (in Japanese)
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature B.V.
About this entry
Cite this entry
Kaminaga, H. (2019). Wire Driven Multi-fingered Hand. In: Goswami, A., Vadakkepat, P. (eds) Humanoid Robotics: A Reference. Springer, Dordrecht. https://doi.org/10.1007/978-94-007-6046-2_84
Download citation
DOI: https://doi.org/10.1007/978-94-007-6046-2_84
Published:
Publisher Name: Springer, Dordrecht
Print ISBN: 978-94-007-6045-5
Online ISBN: 978-94-007-6046-2
eBook Packages: Intelligent Technologies and RoboticsReference Module Computer Science and Engineering