Imperial College London

Dr Nicolas Rojas

Faculty of EngineeringDyson School of Design Engineering

Lecturer
 
 
 
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Contact

 

n.rojas

 
 
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Location

 

Dyson BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@inproceedings{Bai:2018,
author = {Bai, G and Rojas, N},
publisher = {IEEE},
title = {Self-adaptive monolithic anthropomorphic finger with teeth-guided compliant cross-four-bar joints for underactuated hands},
url = {http://hdl.handle.net/10044/1/64980},
year = {2018}
}

RIS format (EndNote, RefMan)

TY  - CPAPER
AB - This paper presents a novel approach for modelingone-degree-of-freedom human metacarpophalangeal/ interpha-langeal joints based on a teeth-guided compliant cross-four-barlinkage. The proposed model allows developing self-adaptiveanthropomorphic fingers able to be 3D printed in a singlestep without any accessories, except for simple tendon wiringafter the printing process, using basic single-material additivemanufacturing. Teeth-guided compliant cross-four-bar linkagesas finger joints not only provide monolithic fabrication withoutassembly but also increase precision of anthropomorphic robotfingers by removing nonlinear characteristics, thus reducing thecomplexity of control for delicate grasping. Kinematic analysisof the proposed compliant finger joints is detailed and nonlinearfinite element analysis results demonstrating their advantagesare reported. A two-fingered underactuated hand with teeth-guided compliant cross-four-bar joints is also developed andqualitative discussion on grasping is conducted.
AU - Bai,G
AU - Rojas,N
PB - IEEE
PY - 2018///
TI - Self-adaptive monolithic anthropomorphic finger with teeth-guided compliant cross-four-bar joints for underactuated hands
UR - http://hdl.handle.net/10044/1/64980
ER -