Design of an Open Source Anthropomorphic Robotic Finger for Telepresence Robot

Conference proceedings article

Authors/Editors

Strategic Research Themes

Publication Details

Author list: Trichada, Jittaboon; Wimonrut, Traithep; Tirasuntarakul, Narongsak; Choopojcharoen, Thanacha; Sakulkueakulsuk, Bawornsak;

Publisher: Elsevier

Publication year: 2021

Start page: 62

End page: 66

Number of pages: 5

ISBN: 9781450384940

ISSN: 0928-4931

eISSN: 1873-0191

URL: https://www.scopus.com/inward/record.uri?eid=2-s2.0-85120704971&doi=10.1145%2f3467691.3467704&partnerID=40&md5=3cdd6d159906c778f0d00370711cd6d9

Languages: English-Great Britain (EN-GB)

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Abstract

This paper focuses on the design and implementation of an anthropomorphic robotic finger, that was designed for teleoperation systems. This open-source anthropomorphic finger is easy to fabricate with a 3D printer and standard parts. The finger has three joints and two active Degrees of Freedom (dofs) with 2 servo motors dedicated to finger motion. Size and weight have been optimized in order to achieve human-like movement and space for attached feedback sensors. This proposed the design process, evaluate the finger with quantitative measures, both equation of four-bar linkage mechanism and equation of kinematic. © 2021 ACM.

Keywords

anthropomorphic, finger, robotic, Telepresence