CHENG GangDec. 2009

Humanoid Hands

Rollin Justin Robot.mp4

Behind the Video

● Motivation of humanoid hand● Serve the people whatever difficult

Behind the Video

● Challenge to humanoid hand● Dynamics

– How to grip an object?● Shape● Material● Mass

– How to balance a holding object?● Shape● Material● Mass

– How to release an object?

Behind the Video

● Challenge to humanoid hand● Intelligence

– How to position the object?● Discover● Position

– How to feel the object?● Vision● Tactile

– How to manipulate the object?● Knowledge● Robust

Outline

● Hand glossary● Humanoid hands classification● How to control the hands● Hand simulation softwares● An example: SHADOW Hand

Glossary First finger

Little finger

Glossary

Middle

Palm

Outline

● Hand glossary● Humanoid hands classification● How to control the hands● Hand simulation softwares● An example: SHADOW Hand

Classification

● By materials● Aluminium● Resin● Polycarbonate● Polyurethane● .... (#$%#@!%!)● A mix of aboves

Classification

● By functions (Special / Universal)● Grip● Carry● Manipulation

Latest Humanoid Robot.mp4

Classification

● By driven● Electric motor

– Meka Robotics Compliant Hand.mp4

● Air– Sushi Robot and Patisserie Robot.mp4

● Mechanical– Virginia Tech -- Robot Hand.mp4

Hydraulic

Outline

● Hand glossary● Humanoid hands classification● How to control the hands● Hand simulation softwares● An example: SHADOW Hand

Control

● Teleoperation● Direct – robot-hand.video1.mpg, robot-hand.video2.mpg

● Remote operate – Justin Humanoid Robot Teleoperation.mp4

● Myoelectric (muscle signal) – Bionic Hand.mp4

● Mind – Man Control Robotic Hand With His Mind.mp4

● Autonomous● Pre-planning – Robot Violinist.mp4

● By feedback – Simon Robot.mp4

Outline

● Hand glossary● Humanoid hands classification● How to control the hands● Hand simulation softwares● An example: SHADOW Hand

Simulation

● 3D software – Blender● Commercial product● Model / Animation

● GraspIt!● Robotics Lab, Columbia University● For grasping research

● Gazebo

Outline

● Hand glossary● Humanoid hands classification● How to control the hands● Hand simulation softwares● An example: SHADOW Hand

Some Providers

● BH8-series Barrett hand● Barrett technology inc. USA

● DIST Hand● Universita di Genova, Italy

● Robonaut Hand● NASA Johnson Space Center, USA

– robonaut.jsc.nasa.hand2.avi

● DLR Hand II● DLR-German Aerospace Center, Germany

Some Providers

● Ultralight Hand● Research center of Karlsruhe, Germany

● GIFU Hand● Gifu University, Japan

● SHADOW Hand● Shadow Robot Company Ltd, UK

● UB Hand III● Bologna University, Italy

SHADOW Hand – C5

● 24 DOF● Muscles and the valve manifold in forearm

region● Force output and movement sensitivity

Tomato_Strawberries_512kb.mp4

SHADOW Hand – C6M

● 24 DOF● Electric “Smart Motor” actuation system● All actuation and sensing

SHADOW Hand Specification

(Measure: mm) C5 C6M

Finger length 102 102

Thumb length 102 104

Palm length 99 99

Palm thickness 22 22

Pal width 84 84

Thumb base thickness 34 34

Forearm 434 208

SHADOW Hand Specification

C5 C6M

Weight 3.9kg 4.0kg

Base 1 0

PowerElectornics: 0.7A, 8VValves: 1A, 28V

Electornics: 0.7A, 8VMotors: 2A, 24V

Actuation 40 Air Muscles 20 Smart Motor units

Communication Contoller Area Network Contoller Area Network

Sensing Position, pressure Position, force, temperature and current

SHADOW Hand Kinematics

● DOF● (1+2+2)+(1+1+2)*3+(1+1+2+1)+(1+1)=24<27

● Controllable● (1+2+2)+(1+1+1)*3+(1+1+1+1)+(1+1)=20

SHADOW Hand Kinematics

Joint Connects Range–C5 Range–C6M Muscle Type

1 Distal-Middle 0 – +90 0 – +90 Coupled pair

2 Middle-Proximal 0 – +90 0 – +90 Coupled pair

3 Proximal-Knuckle -10 – +90 0 – +90 Pair

4 Knuckle-Palm -25 – +25 -25 – +25 Pair

● First, Middle, Ring

SHADOW Hand Kinematics

Joint Connects Range–C5 Range–C6M Muscle Type

1 Distal-Middle 0 – +90 0 – +90 Coupled pair

2 Middle-Proximal 0 – +90 0 – +90 Coupled pair

3 Proximal-Knuckle -10 – +90 -10 – +90 Pair

4 Knuckle-Metacarpal -25 – +25 -25 – +25 Pair

5 Metacarpal-Palm 0 – +40 0 – +40 Pair

● Little Finger

SHADOW Hand Kinematics

Joint Connects Range–C5 Range–C6M Muscle Type

1 Distal-Middle -10 – +90 -10 – +90 Pair

2 Middle-Proximal 1 -30 – +30 -30 – +30 Pair

3 Middle-Proximal 2 -15 – +15 -15 – +15 Pair

4 Proximal-Palm 1 0 – +75 0 – +75 Pair

5 Proximal-Palm 2 -60 – +60 -60 – +60 Pair

● Thumb

SHADOW Hand Kinematics

Joint Connects Range–C5 Range–C6M Muscle Type

1 Palm-Wrist -45 – +35 -40 – +20 Pair

2 Wrist-Forearm -30 – +10 -30 – +10 Pair

● Wrist

What's Sensing?

● Position● A Hall effect sensor measured with typical resolution 0.2 degrees senses

the rotation of each joint. This data is sampled locally by 12-bit ADC s and transmitted ’ on the CANBUS. The sampling rate is configurable up to 180Hz

(x,y)

l1

l2

l3

a

b

What's Sensing

● Pressure● The pressure in each muscle is sensed by a solid-state pressure sensor

mounted directly on the valve manifold, and measured with 12-bit resolution across the range of 0 - 4 bar

What's Sensing

● Force● A total of 186 force sensors. 34 of these are distributed on each fingertip

giving a touch resolution of approx. 7 sensors per cm². Additionally, 2 texels (touch pixels) cover the palmar side of the middle and proximal phalanges of each finger. These sensors measure contact, forces and their directions using a Quantum Tunneling Composite (QTC). The current design can deliver useful signals for a force range between 300mN/cm² and 40N/cm².

Some videos

● BallCatch_512kb.mp4● Egg_handling_512kb.mp4● InSand_512kb.mp4● NASA_Bar_Handle_512kb.mp4● Screw_Cap_512kb.mp4

Stages for Humanoid Hand

● Housework● Manufacture● Space explore● Disable● Amusement● ...

Fine

Reference

● Shadow Dexterous Hand C5 Technical Specification, 2008

● Shadow Dexterous Hand C6M Technical Specification, 2009

● http://www.shadowrobot.com/

● http://tams-www/research/robotics/service_robot/wiki/index.php?n=ShadowHand.ShadowHand

● http://www.touchbionics.com

● Wiki – Hand

● http://www.sugano.mech.waseda.ac.jp/

● http://www.phriends.eu

● http://mekabot.com/

● http://www.youtube.com/

● http://robonaut.jsc.nasa.gov/

Reference

● http://www.technovelgy.com/ct/Science-Fiction-News.asp?NewsNum=2681

● http://robotic.media.mit.edu

● Toyota Mobiro Co.

● https://www.techfak.uni-bielefeld.de/ags/ni/projects/m6setup/hand.html

● ...