Robotic arms and hands come in all shapes and sizes, they can be general purpose or task-specific. They can be pre-programed by a computer or controlled by a human operator. There is a certain subsection of robotic hands which try to mimic the shape, movement and function of the human hand, these are sometimes known as biomimetic robotics. This project explores the human robot interaction by creating an anthropomorphic robotic hand with an accompanying exoskeleton. The hand, which consists of a 3D-printed body and fingers, is connected to a forearm where the servos that control the fingers are housed. The exoskeleton connects to the operator's hand allowing finger tracking through a set of potentiometers. This setup allows the operator to intuitively control a robotic hand with a certain degree of precision. We set out to answer research questions in regard to the form and function of a biomimetic hand and the exoskeleton. Along the way, a multitude of problems were encountered such as budgetary issues resulting in only half the fingers having movement. Despite this, good results were gathered from the functioning fingers and our research questions were answered. ; Robotarmar och händer finns många former och storlekar, de kan vara för allmänna ändamål eller uppgiftsspecifika. De kan programmeras av en dator eller styras av en mänsklig operatör. Det finns en viss typ av robothänder som försöker efterlikna formen, rörelsen och funktionen hos den mänskliga handen, och brukar kallas biomimetisk robotik. Detta projekt utforskar interaktionen mellan människa och robot genom att skapa en antropomorf robothand med tillhörande exoskelett. Handen, som består av en 3D-printad kropp och fingrar, är ansluten till en underarm där servormotorerna som styr fingrarna sitter. Exoskelettet ansluts till operatörens hand vilket möjliggör spårning av fingrarnas rörelse genom ett antal potentiometrar. Detta tillåter operatören att intuitivt styra en robothand med en viss grad av precision. Vi valde att besvara ett antal ...


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    Titel :

    Exo-Controlled Biomimetic Robotic Hand : A design solution for control of a robotic hand with an exoskeleton


    Beteiligte:

    Erscheinungsdatum :

    2021-01-01


    Medientyp :

    Hochschulschrift


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



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