Novel self-sensing actuated joint for robotic hands

摘要

This work presents the first steps towards the development of an anthropomorphic and dexterous hand with adjustable compliance. In this article, we primarily focus on the mechatronic design, modeling and testing of a novel self-sensing actuated joint. Self-sensing characteristic is achieved by specific design of highly back-driveable and efficient actuators based on a DC motor and a ball-screw, together with a novel flexible pivot providing a frictionless, backlash-free mechanical structure. Thus, forces applied to the finger produce an accurate image on the motor current which can be measured. Based on this feature, external forces applied to the finger can be estimated from the motor current measurement. Overall, this mechatronic design contributes to the improvement of manipulation skills of robotic hands, thanks to the combination of high performance mechanics, high sensitivity to external forces and compliance control capability.