Robot Operating System (ROS) controlled anthropomorphic robot hand

Article


Krawczyk, M., Gandhi, V. and Yang, Z. 2022. Robot Operating System (ROS) controlled anthropomorphic robot hand. Journal of Scientific and Industrial Research. 81 (9), pp. 901-910. https://doi.org/10.56042/jsir.v81i09.45313
TypeArticle
TitleRobot Operating System (ROS) controlled anthropomorphic robot hand
AuthorsKrawczyk, M., Gandhi, V. and Yang, Z.
Abstract

This paper presents a new design of a dexterous robot hand by incorporating human hand factors. The robotic hand is a Robot Operating System (ROS) controlled standalone unit that can perform key tasks and work independently. Hardware such as actuators, electronics, sensors, pulleys etc. are embedded within or on the hand itself. Raspberry Pi, a single board computer which runs ROS and is used to control the hand movements as well as process the sensor signals is placed outside of the hand. It supports peripheral devices such as screen display, keyboard and mouse. The hand prototype is designed in Solid Works and 3D printed/built using aluminum sheet. The prototype is similar to the human hand in terms of shape and possesses key functionalities and abilities of the human hand, especially to imitate key movements of the human hand and be as dexterous as possible whilst keeping a low cost. Other important factors considered while prototyping the model were that the hand should be reliable, have a durable construction, and should be built using widely available off-the-shelf components and an open-source software. Though the prototype hand only has 6 degrees-of-freedom (DOF) compared to the 22 DOF of the human hand, it is able to perform most grasps effectively. The proposed model will allow other researchers to build similar robotic hands and perform specialized research.

KeywordsGrasp, Mechanical design, Robotic hand, Robot operating system, Solid Works
Sustainable Development Goals3 Good health and well-being
9 Industry, innovation and infrastructure
Middlesex University ThemeHealth & Wellbeing
PublisherCSIR-NIScPR
JournalJournal of Scientific and Industrial Research
ISSN0022-4456
Electronic0975-1084
Publication dates
Print30 Sep 2022
Publication process dates
Deposited23 Sep 2022
Submitted17 Jan 2021
Accepted22 Aug 2022
Output statusPublished
Publisher's version
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Copyright Statement

Authors who publish with JSIR agree that once published copyright of the article will be transferred to the publisher, with the work simultaneously licensed under a Creative Commons Attribution-BY-NC-ND 4.0 International License.. that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal. [http://op.niscair.res.in/index.php/JSIR/index]

Digital Object Identifier (DOI)https://doi.org/10.56042/jsir.v81i09.45313
LanguageEnglish
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