Nathanael J. Rake, S. Skinner, Gavin D. O'Mahony, J. Schultz
{"title":"机器人手指中简化人体肌腱结构的建模与实现","authors":"Nathanael J. Rake, S. Skinner, Gavin D. O'Mahony, J. Schultz","doi":"10.1109/BIOROB.2016.7523608","DOIUrl":null,"url":null,"abstract":"This article presents a prototype robotic finger that has more human-like functionality than other simplified robotic fingers but is more manufacturable than efforts to directly copy human anatomy. A mathematical model that captures the relationship between joint angles and tendon excursions for the finger's simplified flexor and extensor systems is developed. The model is tested experimentally and shown to have good fidelity over the majority of the finger's workspace. The model also provides unique insight into the relationship between the finger's bone structure and tendon arrangements that is absent in other works.","PeriodicalId":235222,"journal":{"name":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2016-06-26","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"4","resultStr":"{\"title\":\"Modeling and implementation of a simplified human tendon structure in a robotic finger\",\"authors\":\"Nathanael J. Rake, S. Skinner, Gavin D. O'Mahony, J. Schultz\",\"doi\":\"10.1109/BIOROB.2016.7523608\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"This article presents a prototype robotic finger that has more human-like functionality than other simplified robotic fingers but is more manufacturable than efforts to directly copy human anatomy. A mathematical model that captures the relationship between joint angles and tendon excursions for the finger's simplified flexor and extensor systems is developed. The model is tested experimentally and shown to have good fidelity over the majority of the finger's workspace. The model also provides unique insight into the relationship between the finger's bone structure and tendon arrangements that is absent in other works.\",\"PeriodicalId\":235222,\"journal\":{\"name\":\"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)\",\"volume\":null,\"pages\":null},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2016-06-26\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"4\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/BIOROB.2016.7523608\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/BIOROB.2016.7523608","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
Modeling and implementation of a simplified human tendon structure in a robotic finger
This article presents a prototype robotic finger that has more human-like functionality than other simplified robotic fingers but is more manufacturable than efforts to directly copy human anatomy. A mathematical model that captures the relationship between joint angles and tendon excursions for the finger's simplified flexor and extensor systems is developed. The model is tested experimentally and shown to have good fidelity over the majority of the finger's workspace. The model also provides unique insight into the relationship between the finger's bone structure and tendon arrangements that is absent in other works.