Designing Anthropomorphic Robot Hand with Active Dual-Mode Twisted String Actuation Mechanism

In the paper, using the active dual-mode twisted string actuation (TSA) mechanism and tiny tension sensors on the tendon strings, an anthropomorphic robot hand is newly designed in a compact manner. Thanks to the active dual-mode TSA mechanism, which is a miniaturized transmission, the proposed robot hand dose have a wide range of operation in terms of the grasping force and speed. It experimentally produces maximally the fingertip force 31.3 N and minimally the closing time of 0.5 s in average. Also, tiny tension sensor with the dimension of 4.7(width)4.0(height)(length) mm are newly presented and embedded at the fingertips in order to measure the tension on the tendon strings, which would allow the grasping force control. The kinetic and kinematic analyses are performed and the performance is verified by experiments. Related Reference [1] S. H. Jeong, . Kim, and S. Kim, “Development of a Robotic Finger with an Active Dual-mode Twisting Actuation and a Miniature Tendon Tension Sensor,“ presented at the IEEE International Conference on Advanced and Intelligent Mechatronics, 2016. [2] S. H. Jeong, . Kim, and S. Kim, “Designing Anthropomorphic Robot Hand with Active Dual-Mode Twisted String Actuation Mechanism and Tiny Tension Sensors“, IEEE Robotics and Automation Letter, 2017 [3] S. H. Jeong, . Kim, and S. Kim, “Control of and Experimentation on an Active Dual-Mode Twisted String Actuation Mechanism,“ presented at the IEEE International Conference on Advanced and Intelligent Mechatronics, 2017. [4] S. H. Jeong, Y. J. Shin and K. S. Kim, “Design and Analysis of the Active Dual-Mode Twisting Actuation Mechanism,“ in IEEE/ASME Transactions on Mechatronics, vol. PP, no. 99, pp. 1-1 (in press, DOI:).