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Dissertations / Theses on the topic 'Robot hand'

Author: Grafiati

Published: 4 June 2021

Last updated: 25 July 2025

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1

Monahan, Melissa A. "Scalability study for robotic hand platform /." Online version of thesis, 2010. http://hdl.handle.net/1850/12225.

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2

Sulaiman, Amil, and Erik Janerdal. "Gesture controlled robot hand." Thesis, Högskolan i Halmstad, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:hh:diva-44940.

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This project was chosen by the students themselves. The idea behind the proposed system was tooffer an alternative method to control robotics in remote places and harsh environments using avision-based approach. The purpose of the project is to introduce a more natural way of humanto-computer interaction and also to make humans working in hazardous environments still performtheir duties remotely.The components used in the project are a mechanic hand, a Raspberry Pi, a Raspberry Pi cameramodule v2, servos, a servo driver, and a Raspberry Pi display. The code is written in C++, and thelibraries

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3

Jugenheimer, Kristin A. (Kristin Anne) 1977. "A robot for hand rehabilitation." Thesis, Massachusetts Institute of Technology, 2000. http://hdl.handle.net/1721.1/8878.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, February 2001.<br>Includes bibliographical references (p. 369-372).<br>This thesis describes the design of a robot for hand rehabilitation and is based on earlier work done in the MIT Newman Lab for Biomechanics and Human Rehabilitation. The goal of the new robot described here is to provide rehabilitative therapy to the hand. MIT MANUS is an active therapy device previously designed and built in the Newman Lab. It has been used with success to improve strength and control of the upper extremity and promote

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4

Xu, Jijie. "Towards better grasping and manipulation by multifingered robotic hand /." View abstract or full-text, 2007. http://library.ust.hk/cgi/db/thesis.pl?ECED%202007%20XU.

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5

Kontoudis, Georgios Pantelis. "Adaptive, Anthropomorphic Robot Hands for Grasping and In-Hand Manipulation." Thesis, Virginia Tech, 2019. http://hdl.handle.net/10919/87404.

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This thesis presents the design, modeling, and development of adaptive robot hands that are capable of performing dexterous, in-hand manipulation. The robot hand comprises of anthropomorphic robotic fingers, which employ an adaptive actuation mechanism. The mechanism achieves both flexion/extension and adduction/abduction, on the finger's metacarpophalangeal joint, by using two actuators. Moment arm pulleys are employed to drive the tendon laterally, such that an amplification on the abduction motion occurs, while also maintaining the flexion motion. Particular emphasis has been given to the m

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6

Sheikholeslami, Sara. "Data-driven design of expressive robot hands and hand gestures : applications for collaborative human-robot interaction." Thesis, University of British Columbia, 2017. http://hdl.handle.net/2429/61300.

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Fast and reliable communication between human workers and robotic assistants (RAs) is essential for successful collaboration between these agents. This is especially true for typically noisy manufacturing environments that render verbal communication less effective. This thesis investigates the efficacy of nonverbal communication capabilities of robotic manipulators that have poseable, three-fingered end-effectors (hands). This work explores the extent to which different poses of a typical robotic gripper can effectively communicate instructional messages during human-robot collaboration. With

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7

Miura, Kanako. "Robot hand positioning and grasping using vision." Université Louis Pasteur (Strasbourg) (1971-2008), 2004. https://publication-theses.unistra.fr/public/theses_doctorat/2004/MIURA_Kanako_2004.pdf.

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La robotique d'assistance aux gestes humains est en plein essor. Ce type de robots doit être capable de gérer les demandes humaines et d'y répondre de manière flexible avec grande précision. Par exemple, quand un robot doit amener un objet à un être humain, il est très important de saisir l'objet quel qu'il soit sans prendre le risque de le briser. Dans cette thèse, le problème de la saisie d'objet est étudié dans son ensemble. Le robot étudié est un bras anthropomorphe, équipé d'un système de vision monoculaire non calibré et d'une main à deux doigts indépendants avec capteurs d'efforts. Le r

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8

Birgestam, Magnus. "Controlling a Robot Hand in Simulation and Reality." Thesis, Linköping University, Department of Management and Engineering, 2008. http://urn.kb.se/resolve?urn=urn:nbn:se:liu:diva-11393.

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<p>This master thesis was made at the Institute of Technology Stockholm and is a part of a robot hand project called 10-X with the aim to develop a low-cost robot hand that is light and strong.</p><p>The project specification is to further improve the ability to control the robot hand in a user friendly way. This has been done by implementing a controller, earlier used and developed at KTH, which is intuitive and easy to customize after the needs in different kinds of grasps. To make the controller easy to use an user interface has been made.</p><p>Before the implementation of the controller w

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9

Nilsson, Rebecca, and de Val Almida Winquist. "Hand Gesture Controlled Wheelchair." Thesis, KTH, Skolan för industriell teknik och management (ITM), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-264512.

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Haptical technology is a field that is under constant development and that exists in many of today’s products, for example in VR-games and in the controls for vehicles. This kind of technology could in the same way simplify for disabled people by their being able to control a wheelchair using hand gestures. The purpose of this project is to research if a wheelchair can be controlled with hand gestures, and in that case, in which way that would be the most optimal. To answer the research questions in the project, a small scale prototype wheelchair was developed. This prototype is based on a mic

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10

Tang, Philip H. (Philip Hsien-Ching) 1978. "Characterization of a robot designed for hand rehabilitation." Thesis, Massachusetts Institute of Technology, 2002. http://hdl.handle.net/1721.1/89367.

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11

Homberg, Bianca (Bianca S. ). "Robust proprioceptive grasping with a soft robot hand." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/106123.

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Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (pages 85-88).<br>This work presents a soft hand capable of robustly grasping and identifying objects based on internal state measurements along with a combined system which autonomously performs grasps. A highly compliant soft hand allows for intrinsic robustness to grasping uncertainties; the addition of internal sensing allows the configuration of the hand and object to be detected. The hand c

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12

Romero, Javier. "From Human to Robot Grasping." Doctoral thesis, KTH, Datorseende och robotik, CVAP, 2011. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-49061.

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Imagine that a robot fetched this thesis for you from a book shelf. How doyou think the robot would have been programmed? One possibility is thatexperienced engineers had written low level descriptions of all imaginabletasks, including grasping a small book from this particular shelf. A secondoption would be that the robot tried to learn how to grasp books from yourshelf autonomously, resulting in hours of trial-and-error and several bookson the floor.In this thesis, we argue in favor of a third approach where you teach therobot how to grasp books from your shelf through grasping by demonstrat

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13

Nanba, Nobuhiro, Shinji Sawada, Toshiyuki Kondo, Yoshikazu Hayakawa, Takashi Uno, and Akira Nakashima. "Synthesis of Stable Grasp by Four-Fingered Robot Hand for Pick-and-Place of Assembling Parts." International Federation of Automatic Control (IFAC), 2010. http://hdl.handle.net/2237/20765.

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14

Brock, David Lawrence. "Enhancing the dexterity of a robot hand using controlled slip." Thesis, Massachusetts Institute of Technology, 1987. http://hdl.handle.net/1721.1/14814.

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15

Ray, Zachary J. "Hand Orientation Feedback for Grasped Object Slip Prevention with a Prosthetic Hand." University of Akron / OhioLINK, 2016. http://rave.ohiolink.edu/etdc/view?acc_num=akron1461181998.

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16

Zhang, Yuqiang. "Real-time multi-tasking control system for a dextrous robot hand." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1998. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp01/MQ37676.pdf.

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17

Suppa, Michael. "Autonomous robot work cell exploration using multisensory eye in hand systems." Düsseldorf VDI-Verl, 2007. http://d-nb.info/989488659/04.

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18

Suppa, Michael. "Autonomous robot work cell exploration using multisensory eye-in-hand systems /." Düsseldorf : VDI-Verl, 2008. http://www.gbv.de/dms/bs/toc/571793746.pdf.

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19

Price, Aaron David. "Biologically inspired dexterous robot hand actuated by smart material based artificial muscles." Thesis, University of Ottawa (Canada), 2006. http://hdl.handle.net/10393/27409.

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Modern externally powered upper-body prostheses are conventionally actuated by electric servomotors. Although these motors achieve reasonable kinematic performance, they are voluminous and heavy. Deterring factors such as these lead to a substantial proportion of upper extremity amputees avoiding the use of their prostheses. Therefore, it is apparent that there exists a need for functional prosthetic devices that are compact and light-weight. The realization of such a device requires an alternative actuation technology, and biological inspiration suggests that tendon based systems are advantag

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20

Al-Gallaf, Ebrahim Abdulla. "Task space robot hand manipulation and optimal distribution of fingertip force functions." Thesis, University of Reading, 1994. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.387046.

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21

Nguyen, Kien Cuong. "Control of an anthropomorphic arm-hand robot for grasping and dexterous manipulation." Paris 6, 2013. http://www.theses.fr/2013PA066703.

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Cette thèse traite du contrôle d’un système bras-main anthropomorphique robotisé en se concentrant sur deux aspects : le contrôle en force en bout de doigts et la coordination entre bras et main. Le contrôle en force d’un doigt reste difficile à cause de sa petite taille, sa faible bande passante, ses encodeurs peu précis et un jeu important dans la transmission mécanique. Ces difficultés empêchent les approches classiques d’avoir de bonnes performances sur ce système. Une nouvelle approche de contrôle de l’effort en bout de doigts en ajustant le couple maximum des contrôleurs en position des

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22

Speth, Florina. "The role of sound in robot-assisted hand function training post-stroke." Doctoral thesis, Humboldt-Universität zu Berlin, Kultur-, Sozial- und Bildungswissenschaftliche Fakultät, 2016. http://dx.doi.org/10.18452/17604.

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In Folge eines Schlaganfalls leiden 90% aller Patienten an einer Handparese, die sich in 30-40% als chronisch manifestiert. Derzeit wächst seitens der Neurologie und Technologie das Forschungsinteresse an der Effektivität robotergestützter Therapieansätze, welche für schwer betroffene Patienten als besonders vielversprechend eingestuft werden. Die hierfür verwendeten Therapieroboter setzen sich aus einem mechanischen Teil und einer softwaregestützten virtuellen Umgebung zusammen, welche neben dem graphischen Interface, audio-visuelles Feedback sowie Musik beinhaltet. Bisher wurden Effekte der

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23

Sajid, Nisar. "Toward Novel Remote-Center-of-Motion Manipulators and Wearable Hand-Grounded Kinesthetic Haptics for Robot-Assisted Surgery." Kyoto University, 2019. http://hdl.handle.net/2433/242497.

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付記する学位プログラム名: デザイン学大学院連携プログラム<br>Kyoto University (京都大学)<br>0048<br>新制・課程博士<br>博士(工学)<br>甲第21759号<br>工博第4576号<br>新制||工||1713(附属図書館)<br>京都大学大学院工学研究科機械理工学専攻<br>(主査)教授松野文俊, 教授椹木哲夫, 教授小森雅晴<br>学位規則第4条第1項該当

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24

Wren, David Owen. "Planning dextrous robot hand grasps from range data, using preshapes and digit trajectories." Thesis, University of Edinburgh, 1997. http://hdl.handle.net/1842/30950.

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In this thesis a grasp metric based on stability and kinematic feasibility is introduced. The preshaping paradigm is extended to include consideration of the trajectories that the digits take during closure from preshape to final grasp. The resulting <I>grasp strategy </I>is dependent upon task requirements and is designed for a set of "ideal" object-hand configurations. The grasp strategy couples the degrees of freedom of the dextrous hand in an anthropomorphic manner; the resulting reduction in degrees of freedom makes the grasp planning less complex. Grasp strategies are fitted to real obje

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25

Cerruti, Giulio. "Design and Control of a Dexterous Anthropomorphic Robotic Hand." Thesis, Ecole centrale de Nantes, 2016. http://www.theses.fr/2016ECDN0009/document.

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Cette thèse présente la conception et la commande d’une main robotique légère et peu onéreuse pour un robot compagnon humanoïde. La main est conçue pour exprimer des émotions à travers des gestes et pour saisir de petits objets légers. Sa géométrie est définie à l’aide de données anthropométriques. Sa cinématique est simplifiée par rapport à la main humaine pour réduire le nombre d’actionneurs tout en respectant ses exigences fonctionnelles. La main préserve son anthropomorphisme grâce aux nombres et au placement de la base des doigts et à une bonne opposabilité du pouce. La mécatronique de la

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26

Skoglund, Alexander. "Programming by demonstration of robot manipulators." Doctoral thesis, Örebro : Örebro University, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-6570.

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27

Pretlove, John. "Stereoscopic eye-in-hand active machine vision for real-time adaptive robot arm guidance." Thesis, University of Surrey, 1993. http://epubs.surrey.ac.uk/843230/.

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This thesis describes the design, development and implementation of a robot mounted active stereo vision system for adaptive robot arm guidance. This provides a very flexible and intelligent system that is able to react to uncertainty in a manufacturing environment. It is capable of tracking and determining the 3D position of an object so that the robot can move towards, and intercept, it. Such a system has particular applications in remotely controlled robot arms, typically working in hostile environments. The stereo vision system is designed on mechatronic principles and is modular, light-we

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28

Hayakawa, Yoshikazu, Yuta Yoshimatsu, and Akira Nakashima. "Analysis and Synthesis of Stable Grasp by Multi-Fingered Robot Hand with Compliance Control." IEEE, 2010. http://hdl.handle.net/2237/14465.

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29

Kane, Gavin J. [Verfasser]. "Concept and Design of a Hand-held Mobile Robot System for Craniotomy / Gavin J. Kane." Karlsruhe : KIT Scientific Publishing, 2013. http://www.ksp.kit.edu.

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30

Rouleau, Michael Thomas. "Design and Evaluation of an Underactuated Robotic Gripper for Manipulation Associated with Disaster Response." Thesis, Virginia Tech, 2015. http://hdl.handle.net/10919/54567.

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The following study focuses on the design and validation of an underactuated robotic gripper built for the Tactical Hazardous Operations Robot (THOR). THOR is a humanoid robot designed for use in the DARPA Robotics Challenge (DRC) and the Shipboard Autonomous Fire Fighting Robot (SAFFiR) project, both of which pertain to completing tasks associated with disaster response. The gripper was designed to accomplish a list of specific tasks outlined by the DRC and SAFFiR project. Underactuation was utilized in the design of the gripper to keep its complexity low while acquiring the level of dexterit

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31

Stiber, Stephanie A. "Development of an End-effector Sensory Suite for a Rehabilitation Robot." Scholar Commons, 2006. http://scholarcommons.usf.edu/etd/3796.

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This research presents an approach in assisting the control and operation of a rehabilitation robot manipulator to execute simple grasping tasks for persons with severe disabilities. It outlines the development of an end-effector sensory suite that includes the BarrettHand end-effector, laser range finder, and a low cost camera. The approach taken in this research differs greatly from the currently available rehabilitation robot arms in that it requires minimal user instruction, it is easy to operate and more effective for persons severely disabled. A thorough study of the currently available

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32

Ort, Moses Teddy. "A robotic hand that utilizes ergonomic evaluation as feedback to improve human robot collaboration in soldering applications." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/105675.

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Thesis: S.B., Massachusetts Institute of Technology, Department of Mechanical Engineering, 2016.<br>Cataloged from PDF version of thesis.<br>Includes bibliographical references (pages 49-50).<br>People never seem to have enough hands. There are many tools that aim to address this challenge, ranging from the ubiquitous benchtop vise to the "helping hands" commonly used for soldering. However, these tools do not measure up to their human counterparts. They cannot adjust the position or orientation of the workpiece to suit a particular task which can cause workers to maintain unhealthy postures t

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33

Akyürek, Emre. "Remote-controlled ambidextrous robot hand actuated by pneumatic muscles : from feasibility study to design and control algorithms." Thesis, Brunel University, 2015. http://bura.brunel.ac.uk/handle/2438/11671.

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This thesis relates to the development of the Ambidextrous Robot Hand engineered in Brunel University. Assigned to a robotic hand, the ambidextrous feature means that two different behaviours are accessible from a single robot hand, because of its fingers architecture which permits them to bend in both ways. On one hand, the robotic device can therefore behave as a right hand whereas, on another hand, it can behave as a left hand. The main contribution of this project is its ambidextrous feature, totally unique in robotics area. Moreover, the Ambidextrous Robot Hand is actuated by pneumatic ar

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34

Ridolfi, Andrea. "Studio e implementazione di tecniche di Hand Eye Calibration di un Braccio Robotico." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2016. http://amslaurea.unibo.it/10288/.

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La tesi indaga il problema di calibrazione Hand Eye, ovvero la trasformazione geometrica fra i diversi sistemi di riferimento della camera e dell'attuatore del robot, presentando il problema ed analizzando le varie soluzioni proposte in letteratura. Viene infine presentata una implementazione realizzata in collaborazione con l'azienda SpecialVideo, implementata utilizzando l'algoritmo proposto da Konstantinos Daniilidis, il quale propone una formulazione del problema sfruttando l'utilizzo di quaternioni duali, risolvendo simultaneamente la parte rotatoria e traslatoria della trasformazione.

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35

Miners, William Ben. "Toward Understanding Human Expression in Human-Robot Interaction." Thesis, University of Waterloo, 2006. http://hdl.handle.net/10012/789.

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Intelligent devices are quickly becoming necessities to support our activities during both work and play. We are already bound in a symbiotic relationship with these devices. An unfortunate effect of the pervasiveness of intelligent devices is the substantial investment of our time and effort to communicate intent. Even though our increasing reliance on these intelligent devices is inevitable, the limits of conventional methods for devices to perceive human expression hinders communication efficiency. These constraints restrict the usefulness of intelligent devices to support our a

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36

Kane, Gavin J. [Verfasser], and H. [Akademischer Betreuer] Wörn. "Concept and Design of a Hand-held Mobile Robot System for Craniotomy / Gavin J. Kane. Betreuer: H. Wörn." Karlsruhe : KIT-Bibliothek, 2011. http://d-nb.info/1026283752/34.

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37

Sam, Farrah. "Identifying Similarities and Differences in a Human – Human Interaction versus a Human – Robot Interaction to Support Modelling Service Robots." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-283122.

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With the ongoing progress of research in robotics, computer vision and artificial intelligence, robots are becoming more complex, their functionalities are increasing and their abilities to solve particular problems get more efficient. For these robots to share with us our lives and environment, they should be able to move autonomously and be operated easily by users. The main focus of this thesis is on the differences and similarities in a human to a human versus a human to a robot interaction in an office environment. Experimental methods are used to identify these differences and similariti

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38

Hockings, Nicholas. "Material and mechanical emulation of the human hand." Thesis, University of Bath, 2017. https://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.720651.

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The hands and feet account for half of the complexity of the musculoskeletal system, while the skin of the hand is specialised with many important structures. Much of the subtlety of the mechanism of the hand lies in the soft tissues, and the tactile and proprioceptive sensitivity depends on the large number of mechanoreceptors embedded in specific structures of the soft tissues. This thesis investigates synthetic materials and manufacturing techniques to enable building robots that reproduce the biomechanics and tactile sensitivity of vertebrates – histomimetic robotics. The material and mech

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Wang, Yuan-kun, and 王源錕. "Development of Humanoid Robot Hand." Thesis, 2008. http://ndltd.ncl.edu.tw/handle/99937805492136261194.

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碩士<br>國立臺灣科技大學<br>機械工程系<br>96<br>The goal of this paper is to design a humanoid robot hand, to achieve the human hand movement and capture objects function, and may integrate in the robot arm or other working platform. First, discuss the movement and joint of human hand. Second, define and simplify the degree of freedom of this system. Then, to develop and design a robot hand which has 5 fingers, 8 degrees of freedom and 18 joint.

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40

Laird, John Michael. "Teleoperated (remote) robot hand controller." 1987. http://catalog.hathitrust.org/api/volumes/oclc/17456612.html.

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Thesis (M.S.)--University of Wisconsin--Madison, 1987.<br>Typescript. eContent provider-neutral record in process. Description based on print version record. Includes bibliographical references (leaves 55-58).

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Sahoo, Jasmine, and Chidananda Tarai. "Hand Gesture Based Surveillance Robot." Thesis, 2013. http://ethesis.nitrkl.ac.in/5026/1/109EI0341.pdf.

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In this work, a hardware and software based integrated system is developed for hand gesture based surveillance robot. The proposed system is a non-invasive technique and software part of the system uses gesture based image processing technique. The hardware part is developed based on AVR microcontroller platform. The captured image of hand is segmented and its contour is determined. The convexity defects are computed to detect the number of fingers used by the subject. The number of fingers directs the path to robot that is to be followed. The camera placed on the robot capture the images of i

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42

Baccar, Ali. "Collaborative robot control with hand gestures." Master's thesis, 2021. http://hdl.handle.net/10198/23566.

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Mestrado de dupla diplomação com a Université Libre de Tunis<br>This thesis focuses on hand gesture recognition by proposing an architecture to control a collaborative robot in real-time vision based on hand detection, tracking, and gesture recognition for interaction with an application via hand gestures. The first stage of our system allows detecting and tracking a bar e hand in a cluttered background using skin detection and contour comparison. The second stage allows recognizing hand gestures using a Machine learning method algorithm. Finally an interface has been developed to control the

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43

Lucas, S. R. "Robot hand-arm co-operated motion planning." 1997. http://repository.unimelb.edu.au/10187/4294.

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Research and development leading to the realisation of a fully autonomous and robust multi-fingered hand has been going on for three decades. Yet none can be found in an industrial application. This is largely because we do not fully understand the fundamental mechanics of multi-finger grasping.<br>This thesis is a study of the mechanics of multi-finger grasping, with particular attention being paid to applying the analysis to experimental co-operative motion tasks between a hand-arm system and grasped object.<br>Fine manipulation with multi-fingered robot hands is critically influenced by the

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WU, CHIH EN, and 吳至恩. "Design and implementation of dexterous robot hand." Thesis, 2007. http://ndltd.ncl.edu.tw/handle/05559203668771752104.

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45

Chang, Shu-Han, and 張書菡. "Hand motion operated 6-axis robot arm manipulation." Thesis, 2015. http://ndltd.ncl.edu.tw/handle/jgp6eu.

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碩士<br>國立臺灣科技大學<br>機械工程系<br>103<br>In this thesis, 3D displacement information of the featured glove is captured by Kinect and the Euler’s angles of the operator’s wrist are postured by LPMS-B 6-axis acceleration sensor (from L-P Research) immediately. After that, the 3D displacement information is integrated with Euler’s angles into the integral 6-axis information for defining the real-time end-effector position and posture in the robot arm tele-operation. Furthermore, the featured glove was equipped with an Arduino circuit for controlling the on-off operation (grasping or releasing object) o

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Simão, Miguel Ângelo Fernandes Castanheiro e. "Continous hand gesture spotting for human-robot interaction." Master's thesis, 2014. http://hdl.handle.net/10316/38899.

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47

Hsin_Cheng_lee and 李信成. "The Design and Analysis of Piano Robot Hand." Thesis, 2011. http://ndltd.ncl.edu.tw/handle/84821572597514515414.

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碩士<br>明新科技大學<br>精密機電工程研究所<br>99<br>In recent years, the trends of robot become more popular in various types. No matter in where, production of robots are always the spotlight. For example, Japanese Expo Robots announces not only service robots in various types, but also future robots in every year. It has been used in different applications such as education, entertainment, health care and home care services, etc. Application of robot is closely in our daily life, it is not only used in factory anymore. It is different from the weak factory robot market growth raise. Robotics research and the

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Jafargholibeik, Nasim. "Design and optimization of a three-fingered robot hand." Thesis, 2011. http://hdl.handle.net/10155/154.

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Abstract:

Humanoid robots have proven to be very useful and could revolutionize the way humans live. Knowing human anatomy and behaviour helps improve a robotic mechanisms ability to perform human tasks. The following thesis introduces the concept of a threefingered robot hand and its driving mechanism. The hand includes two fingers and a thumb. Using the concept of “an under actuated system”, each finger consists of three revolute joints which are driven by two actuators and tooth belt transmission system. The thumb has two joints but only one joint is active and actuated by one motor. The passive join

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Weng, Chen-Hao, and 翁振皓. "Mechanism Design and Control of Three-Finger Robot Hand." Thesis, 2012. http://ndltd.ncl.edu.tw/handle/d5xrwp.

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碩士<br>國立臺北科技大學<br>自動化科技研究所<br>100<br>This study aims to design of a three-finger robot hand, the three-finger robot hand can capture any object like human hand. The three-finger robot hand comprises: eight revolute joints driven with 7 DC motors, and ATmega2560 microcontroller as control core which combines motor control, signal reading from the joint potentiometers and the capacitive pressure sensors. By this way the robot hand can capture any object with various appearances.

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Chang, I.-Ping, and 張宜平. "Robot Hand/Eye Control Algorithms Using 3D Machine Vision." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/89418345842773331562.

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Abstract:

碩士<br>國立彰化師範大學<br>電機工程學系<br>94<br>This thesis proposes a binocular machine vision using image processing algorithms for controlling a robot grasping a moving target. Binocular cameras are combined with a robot in a hand-eye cooperative configuration using the cameras as vision feedback sensors for controlling the manipulators. The binocular cameras are used to grab sequential images in which the moving target is detected using subtraction, binary, projection, and cross-correlation image processing procedures. The geometric relations for standard stereo geo-metry (SSG) are used to calculate the

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