A flexible self-recovery finger joint for a tendon-driven robot hand.

Journal: The Review of scientific instruments
PMID: 33261425

Abstract

This paper presents a new biomimetic soft finger joint with elastic ligaments for enhanced restoration capability. A hemisphere-shaped flexible finger joint is designed to secure omnidirectional restoration and guarantee a reliable recovery function. Joint design comparative studies for enhancing restoration are presented with joint mechanisms and potential energy formulation analyses. A ligament design that enables an efficient grasping mode switch from power to pinch grasping is also considered. By using the presented joint and ligament, a tendon-driven robot hand is assembled. For the finger's biomimetic features, the hand provides a reasonably secure grasping operation for various complicated objects with minimum controls. The impact test and grasping experiments confirmed that the fabricated hand has the right amount of passive compliance in all directions as designed, and the restoration to the original state is also stably performed.

Authors

  • Dong Jun Oh
    Division of Gastroenterology, Department of Internal Medicine, Dongguk University Ilsan Hospital, Dongguk University College of Medicine, Goyang, Republic of Korea.
  • Zheng Yuan Li
    School of Mechanical Engineering, Sungkyunkwan University, Suwon 16419, South Korea.
  • Jae Hyeon Kim
    School of Mechanical Engineering, Sungkyunkwan University, Suwon 16419, South Korea.
  • Hyouk Ryeol Choi
    Department of Mechanical Engineering, Sungkyunkwan University , Suwon, South Korea .
  • Hyungpil Moon
    Department of Mechanical Engineering, Sungkyunkwan University , Suwon, South Korea .
  • Ja Choon Koo
    Department of Mechanical Engineering, Sungkyunkwan University , Suwon, South Korea .

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