Smart Search 


4_2023_sen_12

Title of the article DEVELOPMENT OF A KINEMATICS MODEL OF HUMAN FINGERS FOR APPLICATION IN ROBOTIC GLOVES
Authors

MERKURYEV Igor V., D. Sc. in Eng., Prof., Head of the Department of Robotics, Mechatronics, Dynamics and Machine Strength, National Research University “Moscow Power Engineering Institute”, Moscow, Russian Federation, This email address is being protected from spambots. You need JavaScript enabled to view it.">This email address is being protected from spambots. You need JavaScript enabled to view it.

CHUNG Chan T., Postgraduate Student of the Department of Robotics, Mechatronics, Dynamics and Machine Strength, National Research University “Moscow Power Engineering Institute”, Moscow, Russian Federation, This email address is being protected from spambots. You need JavaScript enabled to view it.">This email address is being protected from spambots. You need JavaScript enabled to view it.

SAYPULAEV Gasan R., Assistant of the Department of Robotics, Mechatronics, Dynamics and Machine Strength, National Research University “Moscow Power Engineering Institute”, Moscow, Russian Federation, This email address is being protected from spambots. You need JavaScript enabled to view it.">This email address is being protected from spambots. You need JavaScript enabled to view it.

SAYPULAEV Musa R., Ph. D.in Eng., Senior Lecturer of the Department of Robotics, Mechatronics, Dynamics and Machine Strength, National Research University “Moscow Power Engineering Institute”, Moscow, Russian Federation, This email address is being protected from spambots. You need JavaScript enabled to view it.">This email address is being protected from spambots. You need JavaScript enabled to view it.

DEEB Delshan, Assistant of the Department of Robotics, Mechatronics, Dynamics and Machine Strength, National Research University “Moscow Power Engineering Institute”, Moscow, Russian Federation, This email address is being protected from spambots. You need JavaScript enabled to view it.">This email address is being protected from spambots. You need JavaScript enabled to view it.
In the section BIOMECHANICS
Year 2023
Issue 4(65)
Pages 106–113
Type of article RAR
Index UDK 531.132.1
DOI https://doi.org/10.46864/1995-0470-2023-4-65-106-113
Abstract This paper considers the design of an anthropomorphic manipulator in the form of a human hand. The aim of the work is to describe the kinematics of a robotic hand, using the example of one finger. Based on the Denavit–Hartenberg algorithm, a kinematic model is developed for one finger of the robotic hand. The working area of the robotic finger is determined, taking into account the limitations on the rotation angles of the finger phalanges. These kinematic equations are used to solve the problem of the speeds of one fingertip. According to the results of modeling for given speeds of the fingertip, the dependencies of the rotation angles of the robotic hand links were obtained. Unlike the previously used models, the developed one makes it possible to take into account the presence of a geometric constraint between the proximal and distal finger phalanges, which is structurally made with an inextensible thread. The results of the work can be used in the design and manufacture of new robotic gloves.
Keywords kinematics, control, robotic glove, anthropomorphic grip, Denavit–Hartenberg parameters
  You can access full text version of the article.
Bibliography
  1. Saypulaev G.R., et al. A review of robotic gloves applied for remote control in various systems. Proc. 2023 5th International youth conference on radio electronics, electrical and power engineering (REEPE). Moscow, 2023, pp. 1–6. DOI: https://doi.org/10.1109/REEPE57272.2023.10086822.
  2. Zheng Y. A noble classification framework for data glove classification of a large number of hand movements. Journal of electrical and computing engineering, 2021, vol. 2021. DOI: https:// doi.org/10.1155/2021/9472053.
  3. Gibadullina L.N. Modelirovanie dvizheniya paltsev dlya bionicheskikh kistey ruk [Modelling of finger movement for bionic hands]. Sovremennye nauchnye issledovaniya i razrabotki, 2018, no. 6(23), pp. 195–198 (in Russ.).
  4. Bebionic hand EQD. Available at: https://www.ottobock.com/en-us/product/8E70 (accessed 04 May 2023).
  5. Kakoy protez vam podkhodit? [Which prosthesis is right for you?] Available at: https://motorica.org/prosthetics/upper-limb#compare (accessed 14 April 2023).
  6. Lyashko M.A. Protez kisti ruki [Hand prosthesis]. Patent RU, no. 160806 U8, 2016 (in Russ.).
  7. Grebenstein M., et al. The DLR hand arm system. Proc. 2011 IEEE International conference on robotics and automation. Shanghai, 2011, pp. 3175–3182. DOI: https://doi.org/10.1109/ICRA.2011.5980371.
  8. Friedl W., Chalon M., Reinecke J., Grebenstein M. FRCEF: The new friction reduced and coupling enhanced finger for the Awiwi hand. Proc. 2015 IEEE-RAS 15th International conference on humanoid robots (humanoids). Seoul, 2015, pp. 140–147. DOI: https://doi.org/10.1109/HUMANOIDS.2015.7363527.
  9. Grebenstein M., et al. The hand of the DLR hand arm system: designed for interaction. The international journal of robotics research, 2012, vol. 31, iss. 13, pp. 1531–1555. DOI: https://doi.org/10.1177/0278364912459209.
  10. Cobos S., Ferre M., Sanchez Uran M.A., Ortego J., Pena C. Efficient human hand kinematics for manipulation tasks. Proc. 2008 IEEE/RSJ International conference on intelligent robots and systems. Nice, 2008, pp. 2246–2251. DOI: https://doi.org/10.1109/IROS.2008.4651053.
  11. Veber M., Bajd T. Assessment of human kinematics. Proc. 2006 IEEE International conference on robotics and automation. Orlando, 2006, pp. 2966–2971. DOI: https://doi.org/10.1109/ROBOT.2006.1642152.
  12. Chen F.C., et al. Constraint study for a hand exoskeleton: human hand kinematics and dynamics. Journal of robotics, 2013, vol. 2013. DOI: https://doi.org/10.1155/2013/910961.
  13. Stillfried G., van der Smagt P. Movement model of a human hand based on magnetic resonance imaging (MRI). Proc. 1st International conference on applied bionics and biomechanics (ICABB) 2010. Venice, 2010.
  14. Van der Smagt P., Stillfried G. Using MRT data to compute a hand kinematic model. Proc. 9th International conference on motion and vibration control (MOVIC). Munich, 2008.
  15. Grebenstein M., Chalon M., Hirzinger G., Siegwart R. Antagonistically driven finger design for the anthropomorphic DLR hand arm system. Proc. 2010 IEEE-RAS 10th International conference on humanoid robots (humanoids). Nashville, 2010, pp. 609–616. DOI: https://doi.org/10.1109/ICHR.2010.5686342.
  16. Chalon M., Grebenstein M., Wimböck T., Hirzinger G. The thumb: guidelines for a robotic design. Proc. 2010 IEEE/RSJ International conference on intelligent robots and systems. Taipei, 2010, pp. 5886–5893. DOI: https://doi.org/10.1109/IROS.2010.5650454.
  17. Alchakov V.V., Kramar V.A. Postroenie matematicheskoy modeli zakhvata antropomorfnogo robota na osnove metoda Denavita-Hartenberga [Construction of the mathematical model of the arm of an antropomorphic robot based on the Denavit-Hartenberg method]. Automation and measurements in mechanical engineering and instrument engineering, 2019, no. 1(5), pp. 92–102 (in Russ.).
  18. Corke P.I. A simple and systematic approach to assigning Denavit-Hartenberg parameters. IEEE transactions on robotics, 2007, vol. 23, iss. 3, pp. 590–594. DOI: https://doi.org/10.1109/TRO.2007.896765.
  19. Borisov O.I., Gromov V.S., Pyrkin A.A. Metody upravleniya robototekhnicheskimi prilozheniyami [Control methods for robotic applications]. Saint-Petersburg, Universitet ITMO Publ., 2016. 108 p. (in Russ.).
  20. Avkhadiev F.G., Gubaydullina R.K., Nasibullin R.G. Uchebno-metodicheskoe posobie po chislennym metodam analiza [Educational and methodical manual on numerical methods of analysis]. Kazan, Kazanskiy (Privolzhskiy) federalnyy universitet Publ., 2019. 113 p. (in Russ.).