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The thumb: Guidelines for a robotic design

Chalon, Maxime and Grebenstein, Markus and Wimboeck, Thomas and Hirzinger, Gerd (2010) The thumb: Guidelines for a robotic design. International Conference on Intelligent Robots and Systems (IROS 2010), 18-22 Oct 2010, Tapei, Taiwan. ISBN 978-1-4244-6674-0 ISSN 2153-0858

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Abstract

The impressive manipulation capabilities of the human hand are undoubtedly related to the thumb opposition. Such a versatility is highly desirable in the context of humanoid robots, in particular when performing object manipulation. Biomechanical data, surgery procedures and rehabilitation surveys represent an excellent base from which a robotic design can be inferred. This knowledge must be understood to identify the properties required for manipulation skills, and especially, to obtain a holistic view of the thumb functionality. Several designs have been realized, that concentrated on biomimetism or on classical mechanism designs. Therefore, it is currently difficult for designers to obtain a clear overview of the properties required for a functional robot thumb. In the present case, a robotic hand with size, forces, velocity and shape comparable to the human ones, is envisioned. Unlike most of robotic designs - where the fingers are modular and the thumb is simply a finger placed in opposition — the thumb benefits from an intensive functional analysis. This paper gathers anatomy, surgery and rehabilitation data and identifies the properties required for human like manipulation. Based on this synergy, guidelines are presented that are fused and applied to the hand design of the Integrated Hand arm project of DLR.

Item URL in elib:https://elib.dlr.de/68196/
Document Type:Conference or Workshop Item (Paper)
Title:The thumb: Guidelines for a robotic design
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Chalon, Maximemaxime.chalon (at) dlr.deUNSPECIFIED
Grebenstein, MarkusUNSPECIFIEDUNSPECIFIED
Wimboeck, ThomasUNSPECIFIEDUNSPECIFIED
Hirzinger, GerdUNSPECIFIEDUNSPECIFIED
Date:21 October 2010
Open Access:Yes
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Page Range:pp. 5886-5893
ISSN:2153-0858
ISBN:978-1-4244-6674-0
Status:Published
Keywords:hand, anthropomorphism, robot design
Event Title:International Conference on Intelligent Robots and Systems (IROS 2010)
Event Location:Tapei, Taiwan
Event Type:international Conference
Event Dates:18-22 Oct 2010
HGF - Research field:Aeronautics, Space and Transport (old)
HGF - Program:Space (old)
HGF - Program Themes:W SY - Technik für Raumfahrtsysteme
DLR - Research area:Space
DLR - Program:W SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):W - Leistungszentrum Robotik - Mechatronik und Telerobotik (old)
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (until 2012)
Deposited By: Chalon, Maxime
Deposited On:11 Jan 2011 09:50
Last Modified:31 Jul 2019 19:30

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