Initial Development of a Master-Slave Controller for a Five-Fingered Robotic Hand Design by Using Pressure Sensors Comparator Technique

  • Authors

    • Syed Zainal Abidin Syed Kamarul Bahrin
    • Khairul Salleh Mohamed Sahari
    2018-11-30
    https://doi.org/10.14419/ijet.v7i4.35.23104
  • robotics, robotic hand, five-fingered robotic hand, master-slave, pressure sensor, flex sensor, bend sensor.

  • There are numerous robotic hand designs but the five-fingered robotic hand design is the most dexterous robotic hand design due to its similar appearance and motions with the human hands. The five-fingered robotic hands are commonly controlled or governed through a master-slave system that can be accomplished by using simple preset motions or other complicated and advanced technologies. However, a five-fingered robotics hand can also be controlled by a novel approach known as pressure sensors comparator technique. This technique compares the values from the pressure sensors that are strategically located at the glove (master) and robotic hand (slave). If the values differ, the actuators will generate motions accordingly. The initial finding based on the master and slave prototypes showed that applying this technique is very challenging due to the humans' physiological diversity. Nevertheless, a solution was proposed for further studies and future developments by introducing an offset.

  • References

    1. [1] "robotics". Oxford Dictionaries. Retrieved 20 February 2013.

      [2] Cabas, R.; Balaguer, C.; , "Design and development of a light weight embodied robotic hand activated with only one actuator," Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on , vol., no., pp. 2369- 2374, 2-6 Aug. 2005.

      [3] Hyunhwan Jeong; Joono Cheong; , "Design of hybrid type robotic hand : The KU hybrid HAND," Control, Automation and Systems (ICCAS), 2011 11th International Conference on , vol., no., pp.1113-1116, 26-29 Oct. 2011.

      [4] Lippiello, V.; Ruggiero, F.; Siciliano, B.; Villani, L.; , "Visual Grasp Planning for Unknown Objects Using a Multifingered Robotic Hand," Mechatronics, IEEE/ASME Transactions on , vol.18, no.3, pp.1050-1059, June 2013.

      [5] Khalil, F.F.; Curtis, P.; Payeur, P.; , "Visual monitoring of surface deformations on objects manipulated with a robotic hand," Robotic and Sensors Environments (ROSE), 2010 IEEE International Workshop on, vol., no., pp.1-6, 15-16 Oct. 2010.

      [6] Yoshimura, Y.; Ozawa, R.; , "A supervisory control system for a multi-fingered robotic hand using datagloves and a haptic device," Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ International Conference on, vol., no., pp.5414-5419, 7-12 Oct. 2012.

      [7] Panarese, A.; Edin, B.B.; Vecchi, F.; Carrozza, M.C.; Johansson, R.S.; , "Humans Can Integrate Force Feedback to Toes in Their Sensorimotor Control of a Robotic Hand," Neural Systems and Rehabilitation Engineering, IEEE Transactions on , vol.17, no.6, pp.560-567, Dec. 2009.

      [8] Karnati, N.; Kent, B.A.; Engeberg, E.D.; , "Bioinspired Sinusoidal Finger Joint Synergies for a Dexterous

      [8]Robotic Hand to Screw and Unscrew Objects With Different Diameters," Mechatronics, IEEE/ASME Transactions on, vol.18, no.2, pp.612-623, April 2012.

      [9] Jie Liu; Yuru Zhang; , "Mapping human hand motion to dexterous robotic hand," Robotics and Biomimetics, 2007.ROBIO 2007. IEEE International Conference on , vol., no., pp.829-834, 15-18 Dec. 2007.

      [10] Backdrivable Periodic Finger Joint Synergies: Human Observations Applied to a Dexterous Robotic Hand Karnati, N.; Kent, B.; Engeberg, E.D.; , "Backdrivable periodic finger joint synergies: Human observations applied to a dexterous robotic hand," Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on, vol., no., pp.1122-1127, 7-11 Dec. 2011.

      [11] C. Preetham, G. Ramakrishnan, S. Kumar, A. Tamse and N. Krishnapura, "Hand Talk-Implementation of a Gesture Recognizing Glove," India Educators' Conference (TIIEC), 2013 Texas Instruments, Bangalore, 2013, pp. 328-331.

      [12] M. B. H. Flores, C. M. B. Siloy, C. Oppus and L. Agustin, "User-oriented finger-gesture glove controller with hand movement virtualization using flex sensors and a digital accelerometer," Humanoid, Nanotechnology, Information Technology, Communication and Control, Environment and Management (HNICEM), 2014 International Conference on, Palawan, 2014, pp. 1-4.

      [13] A. M. ALmassri, M. B. Abuitbel, W. Z. WanHasan, S. A. Ahmad and A. H. Sabry, "Real-time control for robotic hand application based on pressure sensor measurement," Robotics and Manufacturing Automation (ROMA), 2014 IEEE International Symposium on, Kuala Lumpur, 2014, pp. 80-85.

      [14] C. Karaçizmeli, G. Çakır and D. Tükel, "Robotic hand project," 2014 22nd Signal Processing and Communications Applications Conference (SIU), Trabzon, 2014, pp. 473-476.

      [15] S. W. Pu, S. Y. Tsai and J. Y. Chang, "Design and development of the wearable hand exoskeleton system for rehabilitation of hand impaired patients," 2014 IEEE International Conference on Automation Science and Engineering (CASE), Taipei, 2014, pp. 996-1001.

      [16] T. Someya, "Building bionic skin," in IEEE Spectrum, vol. 50, no. 9, pp. 50-56, September 2013.

      [17] Dong Hyun Kim, S. W. Lee and Hyung-Soon Park, "Sensor evaluation for soft robotic hand rehabilitation devices," 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore, 2016, pp. 1220-1223.

      [18] A. F. C. Silva, C. da Rocha Souto, S. A. da Silva, A. J. V. dos Santos and E. A. T. Filho, "Application of artificial vision as measurement validation tests on a robotic hand driven by shape-memory alloys," 2015 IEEE International Instrumentation and Measurement Technology Conference (I2MTC) Proceedings, Pisa, 2015, pp. 522-526.

      [19] J. Morrow et al., "Improving Soft Pneumatic Actuator fingers through integration of soft sensors, position and force control, and rigid fingernails," 2016 IEEE International Conference on Robotics and Automation (ICRA), Stockholm, 2016, pp.

      [20] N. Uchiyama, Y. Funabora, S. Doki and K. Doki, "Impedance control based on pressure distribution for wearable assist robot on multi-joint body part," 2015 IEEE International Conference on Control System, Computing and Engineering (ICCSCE), Penang, 2015, pp. 48-53.

      [21] J. H. Low et al., "A compliant modular robotic hand with fabric force sensor for multiple versatile grasping modes," 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), Singapore, 2016, pp. 1230-1235.

      [22] A. M. M. Almassri, W. Z. W. Hasan, S. A. Ahmad and A. J. Ishak, "A sensitivity study of piezoresistive pressure sensor for robotic hand," Micro and Nanoelectronics (RSM), 2013 IEEE Regional Symposium on, Langkawi, 2013, pp. 394-397.

      [23] A. A. S. Al-Shanoon, S. A. Ahmad and M. K. B. Hassan, "Investigation of piezoresistive sensor for robotic gripping operations," 2015 IEEE Student Symposium in Biomedical Engineering & Sciences (ISSBES), Shah Alam, 2015, pp. 54-58.

      [24] F. L. Hammond, Y. Mengüç and R. J. Wood, "Toward a modular soft sensor-embedded glove for human hand motion and tactile pressure measurement," 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, 2014, pp. 4000-4007.

      [25] A. M. ALmassri, W. Z. WanHasan, S. A. Ahmad, A. J. Ishak and C. Wada, "Optimisation of grasping object based on pressure sensor measurement for robotic hand gripper," 2015 9th International Conference on Sensing Technology (ICST), Auckland, 2015, pp. 795-798.

      [26] A. A. S. Al-Shanoon, S. A. Ahmad and M. K. B. Hassan, "Re-gripping analysis based on implementation of slip-detection device for robotic hand model," 2016 IEEE Region 10 Symposium (TENSYMP), Bali, 2016, pp. 203-206.

      [27] Y. Tenzer, L. P. Jentoft and R. D. Howe, "The Feel of MEMS Barometers: Inexpensive and Easily Customized Tactile Array Sensors," in IEEE Robotics & Automation Magazine, vol. 21, no. 3, pp. 89-95, Sept. 2014.

      [28] A. P. Gerratt, N. Sommer, S. P. Lacour and A. Billard, "Stretchable capacitive tactile skin on humanoid robot fingers — First experiments and results," 2014 IEEE-RAS International Conference on Humanoid Robots, Madrid, 2014, pp. 238-245.

      [29] Y. Wang and W. Zhang, "Data glove control of robot hand with force telepresence," 2015 IEEE International Conference on Robotics and Biomimetics (ROBIO), Zhuhai, 2015, pp. 314-319.

      [30] R. M. Pierce, E. A. Fedalei and K. J. Kuchenbecker, "A wearable device for controlling a robot gripper with fingertip contact, pressure, vibrotactile, and grip force feedback," 2014 IEEE Haptics Symposium (HAPTICS), Houston, TX, 2014, pp. 19-25.

      [31] Y. Fujihira, T. Nishimura and T. Watanabe, "Bent Sheet Grasping Stability for Sheet Manipulation," in IEEE Robotics and Automation Letters, vol. 1, no. 1, pp. 415-422, Jan. 2016.

      [32] A. J. Spiers, M. V. Liarokapis, B. Calli and A. M. Dollar, "Single-Grasp Object Classification and Feature Extraction with Simple Robot Hands and Tactile Sensors," in IEEE Transactions on Haptics, vol. 9, no. 2, pp. 207-220, April-June 1 2016.

      [33] S. Z. A. S. K. Bahrin and K. S. M. Sahari, "Design and development of a five-fingered master-slave robotic hand by using solenoid and pressure sensors comparator technology solenoid actuation system," 2016 IEEE International Conference on Power and Energy (PECon), Melaka, 2016, pp. 495-499.

  • Downloads

  • How to Cite

    Bahrin, S. Z. A. S. K., & Sahari, K. S. M. (2018). Initial Development of a Master-Slave Controller for a Five-Fingered Robotic Hand Design by Using Pressure Sensors Comparator Technique. International Journal of Engineering & Technology, 7(4.35), 765-771. https://doi.org/10.14419/ijet.v7i4.35.23104