Design and Implementation of a Robot Hand Experimental Platform
Abstract
In this article, we describe the design and implementation of an experimental robotic hand platform in order to create a real environment to tests signals that have been treated with different applied techniques or devices used in the extraction of bioelectrical signals. Mechanically the platform has a hand of 5 degrees of freedom, one for each finger. The movement of each finger is generated by a servomotor, which receives the signal from an electronic distribution board. The reception of signals from the outside is both wired and wireless. To check the individual movement of the fingers, a joystick, a keyboard and Bluetooth device have been provided. The movement of the joints on each finger is achieved by tightening a nylon thread from the pulley located on the servomotor shaft. PWM signals were used to check the movement of the fingers.
Downloads
References
Consejo Nacional para la Igualdad de Discapacidades, «INFORMACIÓN ESTADÍSTICA DE PERSONAS CON DISCAPACIDAD LABORALMENTE ACTIVAS,» 17 Agosto 2017. [En línea]. Available: http://www.consejodiscapacidades.gob.ec/estadistica/index.html. [Último acceso: Septiembre 2017].
D. Peleg, E. Braiman, E. Yom-Tov y G. Inbar, «Clasification of Finger Activation for Use in a Robotic Prosthesis Arm,» IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 10, nº 4, pp. 290-293, 2002.
D. Hann, D. kuschner y Y.-f. Wang, «Upper Limb Position Sensing: A Machine Vision Approach,» de 2nd International IEEE EMBS Conference on Neural Engineering , Arlington, Virginia, 2005.
M. C. Carroza, A. Persichetti, C. Laschi, F. Vecchi, R. Lazzarini, V. Tamburrelli, P. Vacalebri y P. Darío, «A Novel Wearable Interface for Robotic Hand Prostheses,» de 9th International Conference on Rehabilitation Robotics, Chicago, Illinois, 2005.
F. Mobasser, J. M. Eklund y K. Hashtrudi-Zaad, «Estimation of Elbow-Induced Wrist Force With EMG,» IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING, vol. 54, nº 4, pp. 683-693, 2007.
C. Castellini, P. Van der Smagt y G. Hirzinger, «Surface EMG for Force Control of Mechanical Hands,» de IEEE International Conference on Robotics and Automation, Pasadena, California, 2008.
A. Harada, T. Nakakuki, M. Hikita y C. Ishii, «Robot Finger Design for Myoelectric Prosthetic Hand and,» de International Conference on Automation and Logistics, Hong Kong and Macau, 2010.
J. T. Belter, M. T. Leddy y K. D. Gemmell Jr., «Comparative Clinical Evaluation of the Yale Multigrasp Hand,» de 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), UTown, Singapore, 2016.
D. I. Pilaquinga, «Diseño y Construcción de una Mano Robótica Controlada Mediante un Guante Sensorizado,» Quito, 2009.
J. Collahuazo y E. Ordoñez, «Design and Construction of a Robot Hand Activated by Electromyographic Signals,» de 2012 IEEE InternationalSymposium on Robotic and Sensors Environments, 2012.
. C. A. Calderón Córdova, «Una Mano de Esperanza para Todos,» Perspectivas de Investigación, vol. 1, nº 1, p. 3, 2014.
M. B. Monar Naranjo y L. A. Murillo Mantilla, «Diseño y Construcción de una Prótesis Biónica de Mano de 7 Grados de Libertad Utilizando Materiales Inteligentes y Control Mioeléctrico Adaptada para Varios Patrones de Sujeción,» Latacunga, 2015.
D. F.Morales Reinoso, «Diseño e Implementación del Sistema de Control de una Prótesis Biónica de 7 Grados de Libertad Utilizando Materiales Inteligentes y Control Mioeléctrico Adaptada para varios Patrones de Sujeción,» Latacunga, 2016.
B. Gámez, C. Flores, F. Cabrera y J. Cabrera, «Design of a biomechanics prosthesis for child,» Ingeniería UC, vol. 23, nº 1, pp. 58-66, 2016.
H. Pozo, «Construcción de una Mano Robótica Enfocada al Movimiento de los Dedos,» Trabajo de Titulación, Ibarra, Ecuador, 2016.
F. Reyes Cortez, Robótica. Control de Robots Manipuladores, C.V. México: Alfa/Marcombo, 2011.
A. Barrientos, L. Peñín y C. Balaguer, Fundamentos de Robótica, Madrid, España: Mc Graw-Hill, 2007.
L.-W. T. Tsai, Robot Analysis, New York: John Wiley , 199.
J. Denavit y R. Hartenberg, «A kinematic notation for lower-pair mechanisms,» ASME Journal of Applied Mechanics, nº 1955, pp. 215-221, 1955.
R. Paul, Robot Manipulators: Mathematics, Programming, and Control, Massachusetts,: The MIT Press, 1981.
J. Craig, Robótica, México: Prentice Hall, 2006.
F. Reyes y R. Kelly., «On parameter identification of robot manipulators,» de Proceedings of International Conference on Robotics and Automation, Albuquerque, New Mexico, 1997.
Copyright Notice
Authors who publish this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution-Non-Commercial-Share-Alike 4.0 International 4.0 that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work.
Disclaimer
LAJC in no event shall be liable for any direct, indirect, incidental, punitive, or consequential copyright infringement claims related to articles that have been submitted for evaluation, or published in any issue of this journal. Find out more in our Disclaimer Notice.