Visakha Nanayakkara Supervised by: Prof. Necip Sahinkaya...
Transcript of Visakha Nanayakkara Supervised by: Prof. Necip Sahinkaya...
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Visakha Nanayakkara Supervised by: Prof. Necip Sahinkaya,
Dr. Nikolaos Vitzilaios, Dr. Olga Duran, Dr. Demetrios Venetsanos
UKACC PhD Presentation Showcase
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Robotic hands – Grasping and Manipulation
u Objects designed for the human hand u Thumb-palm Functionality
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Methodology: Thumb-palm Kinematics
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Human Grasp Data Acquisition
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Preliminary Results: Kinematic Manipulability (Syngrasp Matlab toolbox [1])
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[1] Malvezzi, Monica, et al. "Syngrasp: A matlab toolbox for underactuated and compliant hands. " Robotics & Automation Magazine, IEEE 22.4 (2015): 52-68.
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Results: Relationships in Joint Pairs
UKACC PhD Presentation Showcase Slide 6
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Conclusion and Future Direction
u Joint angle and torque pair relationships in grasping. u Provides tendon routing guidelines. u Reduced control complexity in robotic thumbs.
u A 3D printed robotic thumb prototype. u Experiments using household objects while refining its
size, weight, and cost.
UKACC PhD Presentation Showcase Slide 7