CIS Humanoid Hand

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CIS Humanoid Hand

• Team Members
• Tom Billings, Mike Stock, Scott Shugh, Ananya
  Majumder, Kit Buckley

2
Project Description

• CIS mission Our mission is to advance the state
  of the art in intelligent systems through the
  research and development of intelligent embodied
  agents such as autonomous robots. Current RD
  includes skill learning for humanoid robots,
  perception learning for mobile robots, and memory
  structures for task learning for cognitive
  robots.
• Existing grippers are not dexterous enough to
  grab various objects.
• Need a humanlike robot hand, which can be used in
  psychology experiments.
• Should be strong enough to withstand collisions,
  but at the same time it should be a compliant
  hand.

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Requirements

• Anthropomorphic right hand
• Equal to or under 1Kg
• Durable
• Must survive impact from arm malfunction
• Independent finger control
• Feedback
• 700 budget

4
Work Breakdown

• Structural
• Mechanical
• Control

http//www.shadowrobot.com/hand/
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Structural

• Potential options polymorph, castable resin, or
  rapid prototype
• Measurements available from Shadow hand
• Available at http//www.shadowrobot.com/hand/techs
  pec.shtml

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Mechanical

• Actuators attached to cables
• Cables attached to fingers
• Tension needs to be created
• Can get by with 4 actuators
• One per finger except last two tied together

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Control

• Feedback
• Method of sensing touch
• Controller options
• Microprocessor
• Parallel Port
• FPGA
• Provide software for integration

8
Schedule
9
The End

• Any Questions?