C-Shaped Bidirectional Stiffness Joint Design For Anthropomorphic Hand
Junxia Yan, Haoxian Zheng, Fuchun Sun, Huaping Liu, Yixu Song, Bin Fang
Abstract
In this letter, we propose a C-shaped bidirectional stiffness joint for an anthropomorphic hand. The spring steel piece is used to connect the knuckles with inner concave C-shape as a rotational joint. The finger is bent by the tendon driven with low stiffness and reset by its own elasticity. The reverse bent has high stiffness with the C-shaped structure of the spring steel piece. The model of the designed joint is deduced, and the load-bearing capacity is analyzed. Meanwhile, the finite element simulation of the maximum bending moment of this joint is implemented. Then, an experimental platform was built to test a single finger, and the C-shaped joint was found to be 36 times larger than the maximum bending moment of the rectangular section joint. Finally, a prototype anthropomorphic hand was developed and the effectiveness of the C-shaped joint-based anthropomorphic hand was verified through various gesture, grasping and load bearing experiments.
BibTeX
@inproceedings{ral2022_cshapedbidirecti,
title = {C-Shaped Bidirectional Stiffness Joint Design For Anthropomorphic Hand},
author = {Junxia Yan and Haoxian Zheng and Fuchun Sun and Huaping Liu and Yixu Song and Bin Fang},
booktitle = {RA-L 2022},
year = {2022}
}