news!
people
activities
equipments
publications
collaborations
past_activities
links
search
  
 > Home > Publications >

F. Lotti, P. Tiezzi, G. Vassura, L. Biagiotti, C. Melchiorri
"UBH 3: an Anthropomorphic Hand with Simplified Endo-Skeletal Structure and Soft Continuous Fingerpads"
 
Type Conference
Author(s) F. Lotti, P. Tiezzi, G. Vassura, L. Biagiotti, C. Melchiorri
Title UBH 3: an Anthropomorphic Hand with Simplified Endo-Skeletal Structure and Soft Continuous Fingerpads
Editor IEEE ICRA'04, New Orleans, April 2004
Keywords Multifingered robot hand, elastic joint, soft finger, control
Abstract
The paper describes work in progress at the University of Bologna concerning the design of a new anthropomorphic robot hand. The hand is based on the modular assembly of articulated fingers that adopt an original configuration of their structure, made with rigid links connected by elastic hinges that are coaxially crossed by °exible tendons. This innovative design is suitable to host distributed sensory equipment and continuous compliant cover, allowing a high level of anthropomorphism together with great structural simplification, reliability enhancement and cost reduction. Furthermore, the proposed solution is very flexible, as it can be adapted to many different hand configurations and is not dependent on a particular type of actuation, being compatible with future availability of any kind of artificial muscles.
Year 2004


pick and add to your personal selectionexplain the meaning of the fieldsHOMELOGIN (you are guest)   Web Oriented Database Home
Copyright © 2000, DEIS - University of Bologna. All rights reserved.
Send an e-mail to the WebMaster