Abstract
We describe our approach to the IROS “Hand-in-Hand” manipulation challenge using a simple one degree-of-freedom prehensor, which is known to be highly effective in prosthetic applications. The claw consists of two prongs of which only one is mobile, requiring the user to first make contact with the immobile prong to create a constraint and then use the second prong to exert force on the object. Despite its simplicity, this design is able to grasp a wide variety of objects and reliably manipulate them. In particular, stiffness is advantageous both when manipulating very small objects, where force needs to be applied precisely, as well as heavy ones, where forces needs to be exerted without deforming the claw itself. This approach reaches its limitations during tasks that require more degrees of freedom, for example grasping and subsequently actuating scissors. These tasks instead highlight the benefits of compliance and underactuation, stimulating a discussion about trade-offs in hand designs.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Baxter Robot Grippers, Rethink Robotics. http://www.rethinkrobotics.com/accessories/
Bebionic v2 Brochure, RSL Steeper. http://www.rslsteeper.com/uploads/files/159/bebionic-ukrow-product-brochurersllit294-issue-21.pdf
Electric Terminal Device (ETD), Motion Control. http://www.utaharm.com/ETD-Sales-Sheet.pdf
ILIMB User Manual, Touch Bionics. http://www.touchbionics.com
Jaco Arm Grippers, Kinova Robotics. http://www.kinovarobotics.com/assistive-robotics/?section=assistive
Michelangelo prosthetic hand. http://www.ottobockus.com/prosthetics/upper-limb-prosthetics/solution-overview/michelangelo-prosthetic-hand/
System Electric Hand, Otto bock. https://professionals.ottobockus.com/ Prosthetics/Upper-Limb-Prosthetics/Myo-Hands-and-Components/Myo-Terminal-Devices/Electric-Greifer-System/System-Electric-Greifer-DMC-VariPlus/p/8E34~59
Belter, J.T., Segil, J.L.: Mechanical design and performance specifications of anthropomorphic prosthetic hands: a review. J. Rehabil. Res. Dev. 50(5), 599 (2013)
Biagiotti, L., Lotti, F., Melchiorri, C., Vassura, G.: How Far is the Human Hand. A Review on Anthropomorphic Robotic end Effectors. University of Bologna, Bologna (2008)
Calli, B., Walsman, A., Singh, A., Srinivasa, S., Abbeel, P., Dollar, A.M.: Benchmarking in manipulation research: The YCB object and model set and benchmarking protocols. arXiv preprint arXiv:1502.03143 (2015)
Catalano, M.G., Grioli, G., Farnioli, E., Serio, A., Piazza, C., Bicchi, A.: Adaptive synergies for the design and control of the Pisa/IIT softhand. Int. J. Robot. Res. 33(5), 768–782 (2014)
Correll, N., Bekris, K.E., Berenson, D., Brock, O., Causo, A., Hauser, K., Okada, K., Rodriguez, A., Romano, J.M., Wurman, P.R.: Analysis and observations from the first Amazon picking challenge. IEEE Trans. Autom. Sci. Eng. (2016). (to appear)
Deimel, R., Brock, O.: A novel type of compliant and underactuated robotic hand for dexterous grasping. Int. J. Robot. Res. 35(1–3), 161–185 (2015). https://doi.org/10.1177/0278364915592961
Dollar, A.M., Howe, R.D.: The highly adaptive sdm hand: design and performance evaluation. Int. J. Robot. Res. 29(5), 585–597 (2010)
Farinha, A., Lima, P.U.: A novel underactuated hand suitable for human-oriented domestic environments. In: 2016 International Conference on Autonomous Robot Systems and Competitions (ICARSC), pp. 106–111. IEEE (2016)
Farrow, N., Li, Y., Correll, N.: Morphological and embedded computation in a self-contained soft robotic hand. arXiv preprint arXiv:1605.00354 (2016)
Fearing, R.: Simplified grasping and manipulation with dextrous robot hands. IEEE J. Robot. Autom. 2(4), 188–195 (1986)
McEvoy, M.A., Correll, N.: Thermoplastic variable stiffness composites with embedded, networked sensing, actuation, and control. J. Compos. Mater. 49(15), 1799–1808 (2015)
Patel, R., Alastuey, J.C., Correll, N.: Improving grasp performance using in-hand proximity and force sensing. In: International Symposium on Experimental Robotics (ISER), Tokyo, Japan (2016)
Rossini, P.M., Micera, S., Benvenuto, A., Carpaneto, J., Cavallo, G., Citi, L., Cipriani, C., Denaro, L., Denaro, V., Di Pino, G., et al.: Double nerve intraneural interface implant on a human amputee for robotic hand control. Clin. Neurophysiol. 121(5), 777–783 (2010)
Weir, R.: The great divide-the human-machine interface. Issues in the control of prostheses, manipulators, and other human machine systems. In: Proceedings of the 2003 IEEE 29th Annual Bioengineering Conference, pp. 275–276. IEEE (2003)
Weiss, E.J., Flanders, M.: Muscular and postural synergies of the human hand. J. Neurophysiol. 92(1), 523–535 (2004)
Acknowledgments
This research has been supported by the Airforce Office of Scientific Research (AFOSR) and the Korean government, we are grateful for this support.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2018 Springer International Publishing AG, part of Springer Nature
About this paper
Cite this paper
Patel, R., Segil, J., Correll, N. (2018). Manipulation Using the “Utah” Prosthetic Hand: The Role of Stiffness in Manipulation. In: Sun, Y., Falco, J. (eds) Robotic Grasping and Manipulation. RGMC 2016. Communications in Computer and Information Science, vol 816. Springer, Cham. https://doi.org/10.1007/978-3-319-94568-2_6
Download citation
DOI: https://doi.org/10.1007/978-3-319-94568-2_6
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-94567-5
Online ISBN: 978-3-319-94568-2
eBook Packages: Computer ScienceComputer Science (R0)