{"title":"Neural Network based Control Method Implemented on Ambidextrous Robot Hand","authors":"T. Kalganova, M. Mukhtar, E. Akyürek, N. Lesne","doi":"10.5875/AUSMT.VXIX.XX","DOIUrl":null,"url":null,"abstract":"Human hands can precisely perform a wide range of tasks. This paper investigates key performance differences when conventional robotic hand controllers are combined with Neural Networks (NN). Tests are performed on a novel 3D printed multi-finger ambidextrous robot hand. The ambidextrous hand is actuated using pneumatic artificial muscles (PAMs) and can bend its fingers both left and right, offering full ambidextrous functionality. Force sensors are placed on the fingertips. In our control method, the grasping trajectory of each finger combines its data with that of the neighboring fingers to obtain accurate results.","PeriodicalId":38109,"journal":{"name":"International Journal of Automation and Smart Technology","volume":"7 1","pages":"27-32"},"PeriodicalIF":0.0000,"publicationDate":"2017-03-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Automation and Smart Technology","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.5875/AUSMT.VXIX.XX","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q4","JCRName":"Computer Science","Score":null,"Total":0}
引用次数: 3
Abstract
Human hands can precisely perform a wide range of tasks. This paper investigates key performance differences when conventional robotic hand controllers are combined with Neural Networks (NN). Tests are performed on a novel 3D printed multi-finger ambidextrous robot hand. The ambidextrous hand is actuated using pneumatic artificial muscles (PAMs) and can bend its fingers both left and right, offering full ambidextrous functionality. Force sensors are placed on the fingertips. In our control method, the grasping trajectory of each finger combines its data with that of the neighboring fingers to obtain accurate results.
期刊介绍：
International Journal of Automation and Smart Technology (AUSMT) is a peer-reviewed, open-access journal devoted to publishing research papers in the fields of automation and smart technology. Currently, the journal is abstracted in Scopus, INSPEC and DOAJ (Directory of Open Access Journals). The research areas of the journal include but are not limited to the fields of mechatronics, automation, ambient Intelligence, sensor networks, human-computer interfaces, and robotics. These technologies should be developed with the major purpose to increase the quality of life as well as to work towards environmental, economic and social sustainability for future generations. AUSMT endeavors to provide a worldwide forum for the dynamic exchange of ideas and findings from research of different disciplines from around the world. Also, AUSMT actively seeks to encourage interaction and cooperation between academia and industry along the fields of automation and smart technology. For the aforementioned purposes, AUSMT maps out 5 areas of interests. Each of them represents a pillar for better future life: - Intelligent Automation Technology. - Ambient Intelligence, Context Awareness, and Sensor Networks. - Human-Computer Interface. - Optomechatronic Modules and Systems. - Robotics, Intelligent Devices and Systems.
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