Professor of Mechanical Engineering and Smart Structures, School of Computing Engineering and Mathematics, Western Sydney University, Australia. His research interests cover Industry 4.0, Additive Manufacturing, Advanced Engineering Materials and Structures (Metals and Composites), Multi-scale Modelling of Materials and Structures, Metal Forming and Metal Surface Treatment.
Abstract—In this paper we present a design of an anthropomorphic robot hand called Osaka-City-University- Hand (OCU-Hand). In our proposed hand the size and weight have been compromised in order to achieve human-like performance with the prime objective of grasping different shapes firmly. Our proposed hand is composed of five fingers with total 15 degrees of freedom (DOF). In addition, 3 DOF are given for a dexterous designed wrist. All the joints of the OCU-Hand are driven by servomotors built into the fingers. The thumb finger in our proposed hand has a special design that improves the implementation of the hand. Also in our proposed hand, the palm has a unique design so as to improve the hand grasping and handling of different shape objects. The size of the hand is almost the same as a human hand. Distributed tactile and force sensors are appended to the OCU-Hand as a feedback system in order to grasp an object firmly. A new control strategy is to be adopted, in which a master light-weight glove is to be used to drive the OCU-Hand as a slave. A novel and unique interactive and assistive mode is included within master-slave control strategy, in which the OCU-Hand is assisting its operators in order to reduce the load on the operator and perform the usual operations in a better manner or even faster than the usual. During the assistive mode the operator is enabled to perform other tasks than the master-slave driving while he has the master-glove on
Index Terms—Anthropomorphic robot hand, Tele-operating, Interactive mode, Feedback sensors
Cite: Raafat Mahmoud, Atsushi Ueno and Shoji Tatsumi, "An Interactive Tele-Operated Anthropomorphic Robot Hand: Osaka City University Hand," International Journal of Mechanical Engineering and Robotics Research, Vol.1, No. 1, pp. 120-135, April 2012.
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