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The TU Hand: Using Compliant Connections to Modulate Grasping Behavior

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Robotic Grasping and Manipulation (RGMC 2016)

Part of the book series: Communications in Computer and Information Science ((CCIS,volume 816))

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Abstract

Guided by the notion that the five-fingered anthropomorphic hand is a good general purpose manipulator, Team Tulsa approached the hand-in-hand portion of the grasping and manipulation competition using a simplified anthropomorphic hand. The hand had a simplified thumb, fixed in the opposed position, and only two actuators. Motions of the fingers and thumb were coupled together using a “ties and skips” architecture where thumb and finger tendons were tied to specific coils of a “mainspring” in a manner that produced the best behavior across the wide range of challenges. The actuators could move or deform the spring in common mode, which resulted in an enveloping grasp) or differential mode (which resulted in a pinch grasp) and superimpose the two modes. The compliant nature of the hand allowed the fingers to conform to the object as the grasp was acquired. This strategy allowed the retrieval of all objects from the basket (all on the first or second attempt by the volunteer), and scooping peas from the dish, but could not operate the hammer (due to its weight) the syringe, or the scissors (as they required increased dexterity).

Thanks to Fahad Ansari, University of Tulsa Junior, for serving as the unaffiliated volunteer for our simulated competition in Tulsa. This research was supported by NSF NRI 1427250.

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Notes

  1. 1.

    In this work, “Anthropomorphic” can be taken to mean having a distinct “thumb” placed in opposition to the fingers with distinct differences in morphology and kinematics from the remaining fingers and with morphology of the fingers generally human in kinematics, appearance and proportion. Not all are five-fingered. For a more quantitative measure of anthropomorphism, the reader is referred to Liarokapis [17].

  2. 2.

    In principle, linkage-based systems could be driven bidirectionally and independently drive n joints with only n actuators, but design of such a mechanism is extremely challenging. All linkage-based hands the authors are aware of are underactuated.

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Authors and Affiliations

  1. The University of Tulsa, Tulsa, OK, 74104, USA

    Dipayan Das, Nathanael J. Rake & Joshua A. Schultz

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  1. Dipayan Das
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  2. Nathanael J. Rake
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  3. Joshua A. Schultz
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Correspondence to Dipayan Das .

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Editors and Affiliations

  1. University of South Florida, Tampa, Florida, USA

    Yu Sun

  2. National Institute of Standards and Technology, Gaithersburg, Maryland, USA

    Joe Falco

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Das, D., Rake, N.J., Schultz, J.A. (2018). The TU Hand: Using Compliant Connections to Modulate Grasping Behavior. 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_4

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  • DOI: https://doi.org/10.1007/978-3-319-94568-2_4

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