Sensors, Vol. 24, Pages 2585: Development of a Two-Finger Haptic Robotic Hand with Novel Stiffness Detection and Impedance Control

Sensors, Vol. 24, Pages 2585: Development of a Two-Finger Haptic Robotic Hand with Novel Stiffness Detection and Impedance Control Sensors doi: 10.3390/s24082585 Authors: Vahid Mohammadi Ramin Shahbad Mojtaba Hosseini Mohammad Hossein Gholampour Saeed Shiry Ghidary Farshid Najafi Ahad Behboodi Haptic hands and grippers, designed to enable skillful object manipulation, are pivotal for high-precision interaction with environments. These technologies are particularly vital in fields such as minimally invasive surgery, where they enhance surgical accuracy and tactile feedback: in the development of advanced prosthetic limbs, offering users improved functionality and a more natural sense of touch, and within industrial automation and manufacturing, they contribute to more efficient, safe, and flexible production processes. This paper presents the development of a two-finger robotic hand that employs simple yet precise strategies to manipulate objects without damaging or dropping them. Our innovative approach fused force-sensitive resistor (FSR) sensors with the average current of servomotors to enhance both the speed and accuracy of grasping. Therefore, we aim to create a grasping mechanism that is more dexterous than grippers and less complex than robotic hands. To achieve this goal, we designed a two-finger robotic hand with two degrees of freedom on each finger; an FSR was integrated into each fingertip to enable object categorization and the detection of th...
Source: Sensors - Category: Biotechnology Authors: Tags: Article Source Type: research