OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism
Recent advancements in artificial hand development have primarily concentrated on enhancing adaptive grasping, dexterity, as well as the integration of biomimetic skin. However, few designs have successfully combined lightweight, cost-effective solutions, and tactile sensing along with adaptive grasping in a human-sized prototype. We propose, an open-source, highly integrated artificial hand. It leverages a compliant linkage mechanism for versatile grasping capabilities, featuring six degrees of actuation and MEMS-based tactile sensors on every fingertip.
Authors
- Amartya Ganguly (ORCID: https://orcid.org/0000-0003-4093-1101)
- Michael Ratzel
- Edmundo Pozo Fortunić (ORCID: https://orcid.org/0000-0003-2717-8506)
- Sami Haddadin (ORCID: https://orcid.org/0000-0001-7696-4955)
- Abdalla Swikir (ORCID: https://orcid.org/0000-0002-4154-7446)
- Diego Hidalgo-Carvajal (ORCID: https://orcid.org/0000-0003-2382-7089)
- Lingyun Chen (ORCID: https://orcid.org/0000-0001-5302-4450)
- Edgar Welte
- Sonja Groß (ORCID: https://orcid.org/0000-0003-0702-7372)
Institutions
- Technical University of Munich (DE)
Publication Details
- Published
- 2024-10-14
- DOI
- https://doi.org/10.1109/iros58592.2024.10801426
- Citations
- 2
- Primary Topic
- Tactile and Sensory Interactions
- Type
- article
- Field-Weighted Citation Impact
- 0.69
Funders
- Ministry of Education