Online Motion Planning
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 4 actuators in a synergistic fashion. The design is optimized according to the human hand characteristics that are based on neuroscience, anthropometric studies, and medical tests. The fabrication procedure consists of 3D printing, and Hybrid Deposition Manufacturing (HDM) techniques.
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.
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]