Print Email Facebook Twitter Designing a fast low-cost anthopomorphic robotic hand Title Designing a fast low-cost anthopomorphic robotic hand Author Erceylan, Meriç (TU Delft Electrical Engineering, Mathematics and Computer Science) Contributor Venkatesha Prasad, Ranga Rao (mentor) Erkin, Z. (graduation committee) Gokhale, V. (graduation committee) Simha, A. (graduation committee) Kroep, Kees (graduation committee) Degree granting institution Delft University of Technology Programme Electrical Engineering | Embedded Systems Date 2022-07-22 Abstract In this Thesis a fast, low-cost, anthropomorphic robotic hand with tactile feedback is designed. The hand consists of an index finger and a thumb, both of which have four degrees of freedom. All eight degrees of freedom are fully actuated using eight servomotors whose forces are transferred using tendons. The design introduces tendon routing to minimize the change in tendon tension as the joints rotate. To accomplish this at the 2 degree of freedom joints of thumb and index finger, a novel design for the ball and socket joint is created. The hand can be controlled using a tactile glove called the SenseGlove which also enables the user to receive force feedback. Testing reveals that the robot can open and close its fingers within 275 ms, and is able to grab a variety of objects. Subject Tactile internetRobotic handanthropomorphicfastlow-cost To reference this document use: http://resolver.tudelft.nl/uuid:ca7b1946-b8ee-471f-8f60-6024b3339aa8 Part of collection Student theses Document type master thesis Rights © 2022 Meriç Erceylan Files PDF Master_Thesis_Meri_Erceylan.pdf 64.6 MB Close viewer /islandora/object/uuid:ca7b1946-b8ee-471f-8f60-6024b3339aa8/datastream/OBJ/view