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Abstract

Details

Industrial Robot: An International Journal, vol. 40 no. 3
Type: Research Article
ISSN: 0143-991X

Content available
Article
Publication date: 23 May 2022

Tao Wang, Zheng Xie, Yuan Li, Yan Zhang, Hao Zhang and Frank Kirchner

This study aims to introduce the DoraHand, and the basic capability and performance have been verified in this paper. Besides the idea of sharing modular design and sensor design…

Abstract

Purpose

This study aims to introduce the DoraHand, and the basic capability and performance have been verified in this paper. Besides the idea of sharing modular design and sensor design, the authors want to deliver an affordable and practical dexterous hand to the research area to contribute to the robotic manipulation area.

Design/methodology/approach

This paper introduced the DoraHand, a novel scalable and practical modular dexterous hand, which, adopting modular finger and palm design, fully actuated joint and tactile sensors, can improve the dexterity for robotic manipulation and lower the complexity of maintenance. A series of experiments are delivered to verify the performance of the hand and sensor module.

Findings

The parameters of the DoraHand are verified and suitable for the research of robotics manipulation area, the sensing capability has been tested with the static experiment and the slip prediction algorithm. And, the advantage of modular design and extensible interface have been verified by the real application.

Research limitations/implications

The authors continue improving the DoraHand and extend it to more different applications. The authors want to make the DoraHand as a basic research platform in the robotic manipulation area.

Practical implications

The DoraHand has been sent to more than ten different research institutes for different research applications. The authors continue working on this hand for better performance, easier usage and more affordability.

Social implications

This kind of dexterous hand can help researchers get rid of complex physical issues and pay more attention to the algorithm part; it can help to make robotic manipulation work more popular.

Originality/value

The key design in the DoraHand is the modular finger and sensing module. With the special design in mechanical and electrical parts, the authors build reliable hardware and can support the diversity requirement in the robotic manipulation area. The hand with tactile sensing capability can be used in more research and applications with its extensibility.

Details

Industrial Robot: the international journal of robotics research and application, vol. 49 no. 4
Type: Research Article
ISSN: 0143-991X

Keywords

Content available
Article
Publication date: 1 December 2003

47

Abstract

Details

Circuit World, vol. 29 no. 4
Type: Research Article
ISSN: 0305-6120

Keywords

Content available
Article
Publication date: 1 March 2004

Jon Rigelsford

44

Abstract

Details

Sensor Review, vol. 24 no. 1
Type: Research Article
ISSN: 0260-2288

Keywords

Content available
29

Abstract

Details

Microelectronics International, vol. 20 no. 2
Type: Research Article
ISSN: 1356-5362

Keywords

Content available
Article
Publication date: 1 March 2000

35

Abstract

Details

Circuit World, vol. 26 no. 1
Type: Research Article
ISSN: 0305-6120

Keywords

Content available
Article
Publication date: 8 May 2007

48

Abstract

Details

Industrial Robot: An International Journal, vol. 34 no. 3
Type: Research Article
ISSN: 0143-991X

Content available
Article
Publication date: 1 December 2000

35

Abstract

Details

Circuit World, vol. 26 no. 4
Type: Research Article
ISSN: 0305-6120

Keywords

Content available
Article
Publication date: 1 December 2000

39

Abstract

Details

Microelectronics International, vol. 17 no. 3
Type: Research Article
ISSN: 1356-5362

Keywords

Content available
Article
Publication date: 1 February 2003

334

Abstract

Details

Industrial Robot: An International Journal, vol. 30 no. 1
Type: Research Article
ISSN: 0143-991X

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