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Development of a Three-Fingered Multi-Modality Dexterous Hand with Integrated Embedded High-Dimensional Sensors

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Abstract

In order to realize stable grasping and dexterous manipulation of irregular objects in unstructured environments, a fully-actuated three-fingered multi-modality dexterous hand with precise perception is developed. To enhance the movement performance of the dexterous hand in 3D space, the axis of the metacarpophalangeal (MCP) joint is perpendicular to the other two joint axes to form the 9-DoF hand mechanism, which effectively increases the grasping modalities of the dexterous hand. Meanwhile, high-precision 6-axis force/torque (F/T) sensors are integrated and embedded in distal interphalangeal (DIP) links and fingertips to improve the perception of the dexterous hand. Finally, the precision experiments on F/T sensors and joint movement with the grasping experiment are carried out to evaluate the performance of the hand. The results show that the force and torque errors of the sensors are less than 1\(\%\) and 4\(\%\), the joint movement error of the proposed dexterous hand is less than 1.4 degree. Multi-modality grasping of various objects is performed to show that the high precision and strong grasping capabilities of the proposed dexterous hand.

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Acknowledgements

The authors would like to thank Sunrise Instruments Inc. for continuous working and reasonable suggestions on the dexterous hand.

Funding

This work was supported in part by the Natural Science Foundation of Guangxi (Grant No. 2022JJB170009), and in part by the funding of basic ability promotion project for young and middle-aged teachers in Guangxi’s colleges and universities (Grant No. 2022KY0008). Feng Shuang acknowledges support by the Bagui Scholar Program of Guangxi.

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Authors and Affiliations

  1. Guangxi Key Laboratory of Intelligent Control and Maintenance of Power Equipment, School of Electrical Engineering, Guangxi University, 530004, Nannning, China

    Mingqi Chen, Shaodong Li, Feng Shuang, Yang Du & Xi Liu

Authors
  1. Mingqi Chen
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  2. Shaodong Li
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  3. Feng Shuang
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  4. Yang Du
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  5. Xi Liu
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Contributions

Mingqi Chen: Configuration design, control system, experimental evaluation, visualization. Shaodong Li: Finger design, control system, supervision. Feng Shuang: Configuration design, F/T sensor design, supervision. Yang Du: Experimental evaluation, visualization. Xi Liu: Visualization and video demonstration.

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Correspondence to Shaodong Li or Feng Shuang.

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Chen, M., Li, S., Shuang, F. et al. Development of a Three-Fingered Multi-Modality Dexterous Hand with Integrated Embedded High-Dimensional Sensors. J Intell Robot Syst 108, 24 (2023). https://doi.org/10.1007/s10846-023-01875-6

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  • DOI: https://doi.org/10.1007/s10846-023-01875-6

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