Current Projects

Exo-Arm/Hand Systems

The intent of this project is to develop a system for package pick-and-place operations that reduces the amount of human labor involved, and increases the efficiency of the system. More specifically, the system firtst will separate packages by size and weight. Then, for large and heavy packages, an exo-arm/hand system will be responsible to assist the workers. Next, for small and lightweight packages a pushing system will be diverted off the conveyor system to an adjustable height wheeled table.



Anthropomorphic Robot Hands

This research project contributes to the development of a new class of anthropomorphic, adaptive robot hands. The robot hands can operate in unstructured environments and can achieve various grasping and in-hand manipulation actions, with only 3 actuators in a synergistic fashion. The design is optimized according to the human hand characteristics, based on neuroscience and anthropometric studies, as well as medical tests. The fabrication procedure consists of CNC milling, 3D printing, and Hybrid Deposition Manufacturing (HDM) techniques.


Online Motion Planning

TBD.











Past Projects

Prosthetic Hands

This reserach project was focused on the design and development of an anthropomorphic, underactuated, personalized robot hand of low cost and weight. Elastic joints were selected in order to introduce passive compliance in the hand's structure, simplify the control problem and perform robust grasping in unstructured environments. Low weight and cost were achieved with the use of common, lightweight and off–the–self materials, like Plexiglas & ABS. We employed a single actuator with a novel selectively differential mechanism that allows the execution of different grasping postures and gestures. The proposed design is parametric and allows the replication of personalized, anthropomorphic prosthetic hands. The fabrication procedure consists of either a laser cutting or a 3D printing technique.


Publications

  1. George P. Kontoudis, Minas V. Liarokapis, Agisilaos G. Zisimatos, Christoforos I. Mavrogiannis and Kostas J. Kyriakopoulos, “Open-Source, Anthropomorphic, Underactuated Robot Hands with a Selectively Lockable Differential Mechanism: Towards Affordable Prostheses”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, 2015.
    [BibTeX] [PDF] [Video]