Open Science Research Excellence

Open Science Index

Commenced in January 2007 Frequency: Monthly Edition: International Publications Count: 30465

Select areas to restrict search in scientific publication database:
Control of an Asymmetrical Design of a Pneumatically Actuated Ambidextrous Robot Hand
The Ambidextrous Robot Hand is a robotic device with the purpose to mimic either the gestures of a right or a left hand. The symmetrical behavior of its fingers allows them to bend in one way or another keeping a compliant and anthropomorphic shape. However, in addition to gestures they can reproduce on both sides, an asymmetrical mechanical design with a three tendons routing has been engineered to reduce the number of actuators. As a consequence, control algorithms must be adapted to drive efficiently the ambidextrous fingers from one position to another and to include grasping features. These movements are controlled by pneumatic muscles, which are nonlinear actuators. As their elasticity constantly varies when they are under actuation, the length of pneumatic muscles and the force they provide may differ for a same value of pressurized air. The control algorithms introduced in this paper take both the fingers asymmetrical design and the pneumatic muscles nonlinearity into account to permit an accurate control of the Ambidextrous Robot Hand. The finger motion is achieved by combining a classic PID controller with a phase plane switching control that turns the gain constants into dynamic values. The grasping ability is made possible because of a sliding mode control that makes the fingers adapt to the shape of an object before strengthening their positions.
Digital Object Identifier (DOI):


[1] E. Akyürek, L. Paramonov, L. Steele, M. Simko, L. Kavanagh, A. Nimmo, A. Huynh, Stelarc, and T. Kalganova, " Ambidextrous Design for a Robotic Hand Actuated by Pneumatic Artificial Muscles", unpublished.
[2] A.D. Deshpande, Z. Xu, M.J. VandeWeghe, B.H. Brown, J. Ko, L.Y. Chang, D.D Wilkinson, S.M. Bidic, and Y. Matsuoka, "Mechanisms of the Anatomically Correct Testbed (ACT) Hand", IEEE/ASME Transactions on Mechatronics, vol. 18, 2013, pp. 238-250.
[3] Shadow Robot Company Ltd, Shadow Dexterous Hand E1M3R, E1M3L, 2013.
[4] A. Ikeda, Y. Kurita, and T. Ogasawara "Evaluation of Pinching Effort by a Tendon-Driven Robot Hand", Proceedings of 2009 IEEE International Conference on Robotics and Automation (ICRA), 2009, pp. 3437-3442.
[5] G. Berselli, G. Borghesan, M. Brandi, C. Melchiorri, C. Natale, G. Palli, S.Pirozzi, and G. Vassura, "Integrated Mechatronic design for a new generation of robotic hands", 9th IFAC Symposium on Robot Control, 2009, pp. 8-13.
[6] D.G. Caldwell, G.A. Medrano-Cerda, and M. Goodwin "Control of Pneumatic Muscle Actuators", IEEE Control Systems, 1995, pp. 40-47.
[7] R.V. Ham, B.Verrelst, F.Daerden, and D.Lefeber, "Pressure Control with On-Off Valves of Pleated Pneumatic Artificial Muscles in a Modular One-Dimensional Rotational Joint", International Conference on Humanoid Robots,2003,abstract p. 35.
[8] A. Hildebrandt, O. Sawodny, R. Neumann, and A. Hartmann, "A Cascaded Tracking Control Concept for Pneumatic Muscle Actuators", American Control Conference, 2005. Proceedings of the 2005, vol. 1, 2005, pp. 680-685.
[9] X. Zhu, G. Tao, B. Yao, and J. Cao, "Adaptive Robust Posture Control of Parallel Manipulator Driven by Pneumatic Muscles with Redundancy", IEEE/ASME Transactions on Mechatronics, vol. 13, no. 4, 2008, pp. 441-450.
[10] T.J. Yeh, M.J. Wu, T.J. Lu, F.K. Wu, and C.R. Huang, "Control of McKibben pneumatic muscles for a power-assist, lower-limb orthosis", Mechatronics, vol. 20, no. 6, 2010, pp. 686-697.
[11] E. Akyürek, A. Dilly, F. Jourdan, Z. Liu, S. Chattoraj, I. BerruezoJuandeaburre, M. Heinrich, L. Paramonov, P. Turner, Stelarc, and T. Kalganova, "Remote-Controlled Ambidextrous Robot Hand Concept", Journal of Computer Technology and Application, vol. 4, no. 4, 2013, pp. 569-574.
[12] K.K. Ahn and N.H. Thai Chau "Intelligent Phase Plane Switching Control of a Pneumatic Muscle Robot Arm with Magneto-Rheological Brake", Journal of Mechanical Science and Technology, vol. 21, 2007, pp. 1196-1206.
[13] Z. Tong, Z. Ling, and W. Tao, "New Sliding Mode Control for Pneumatic Muscle Actuator Joint Model via Delta Operator Approach", Third International Conference on Measuring Technology and Mechatronics Automation (ICMTMA), vol. 2, 2011, pp. 686-689.
[14] H.Aschemann and D.Schindele, "Sliding-Mode Control of a High-Speed Linear Axis Driven by Pneumatic Muscle Actuators", IEEE Transactions on Industrial Electronics, vol. 55, no. 11, 2008, pp. 3855-3864.
[15] M. Chettouh, R. Toumi, and M. Hamerlain, "High-Order Sliding Modes for a Robot Driven by Pneumatic Artificial Rubber Muscles", Advanced Robotics, vol. 1, no. 22, 2008, pp. 689-704.
[16] S. Boudoua, F. Hamerlain, and M. Hamerlain, "Neuro Sliding Mode Based Chatter Free Control for an Artificial Muscles Robot Arm", International Joint Conference on Neural Networks (IJCNN), 2010, pp. 1-7.
[17] H.Aschemann and D. Schindele, "Nonlinear Model-Based Control of a Parallel Robot Driven by Pneumatic Muscle Actuators" in New approaches in Automation and Robotics, ed.HaraldAschemann, I-Tech Education and Publishing, 2008.
[18] K.H. Ang, G. Chong, and Y. Li "PID Control System Analysis, Design, and Technology", IEEE Transactions on Control Systems Technology, vol. 13, no. 4, 2005, pp. 559-576.
[19] Y. Honda, F. Miyazaki and A. Nishikawa, "Control of pneumatic five-fingered robot hand using antagonistic muscle ratio and antagonistic muscle activity", Proc. 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, 2010, pp. 337-342.
[20] K.D. Young, V.I. Utkin, and Ü. Özgüner, "A Control Engineer's Guide to Sliding Mode Control", IEEE Transactions on Control Systems Technology, vol. 7, no. 3, 1999, pp. 328-342.
[21] M.R. Soltanpour and M.M. Fateh, "Sliding Mode Robust Control of Robot Manipulator in the Task Space by Support of Feedback Linearization and BackStepping Control", World Applied Sciences Journal, vol. 6, no. 1, 2009, pp. 70-76.
[22] A.D. Deshpande, J. Ko, D. Fox, and Y. Matsuoka, "Anatomically Correct Testbed Hand Control:Muscle and Joint Control Strategies”, IEEE International Conference on Robotics and Automation, 2009, pp. 4416-4422.
[23] D. Gunji, Y.Mizoguchi, S. Teshigawara, A. Ming, A. Namiki, M. Ishikawaand, and M. Shimojo, "Grasping Force Control of Multi-Fingered Robot Hand based on Slip Detection Using Tactile Sensor”, IEEE International Conference on Robotics and Automation (ICRA), 2008, pp. 2605-2610.
[24] T. Hasegawa, K. Murakami, and T. Matsuoka, "Grasp Planning for Precision Manipulation by Multifingered Robotic Hand”, IEEE International Conference on Systems, Man, and Cybernetics, 1999, pp. 762-767.
[25] T. Yoshikawa, "Multifingered robot hands: Control for grasping and manipulation”, Annual Reviews in Control, 2010, pp. 199-208.
[26] M.A. Roa, M.J. Argus, D. Leidner, C. Borst, and G. Hirzinger, "Power Grasp Planning for Anthropomorphic Robot Hands”, IEEE International Conference on Robotics and Automation (ICRA), 2012, pp. 563-569.
[27] P. Pomiers, "Modular Modular Robot Arm Based on Pneumatic Artificial Rubber Muscles (PARM)”, Proceedings of the 6th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, 2003, 879-886.
[28] T. Noritsugu, M. Takaiwa, and D. Sasaki, "Power Assist Wear with Pneumatic Rubber Artificial Muscles”, Mechatronics and Machine Vision in Practice, 2008, pp. 539-544.
[29] X. Jiang, C. Xiong, R. Sun, and Y. Xiong, "Characteristics of the Robotic Arm of a 9-DoF Upper Limb Rehabilitation Robot Powered by Pneumatic Muscles”, Intelligent Robotics and Applications, Springer Berlin Heidelberg, 2010, pp 463-474.
Vol:14 No:06 2020Vol:14 No:05 2020Vol:14 No:04 2020Vol:14 No:03 2020Vol:14 No:02 2020Vol:14 No:01 2020
Vol:13 No:12 2019Vol:13 No:11 2019Vol:13 No:10 2019Vol:13 No:09 2019Vol:13 No:08 2019Vol:13 No:07 2019Vol:13 No:06 2019Vol:13 No:05 2019Vol:13 No:04 2019Vol:13 No:03 2019Vol:13 No:02 2019Vol:13 No:01 2019
Vol:12 No:12 2018Vol:12 No:11 2018Vol:12 No:10 2018Vol:12 No:09 2018Vol:12 No:08 2018Vol:12 No:07 2018Vol:12 No:06 2018Vol:12 No:05 2018Vol:12 No:04 2018Vol:12 No:03 2018Vol:12 No:02 2018Vol:12 No:01 2018
Vol:11 No:12 2017Vol:11 No:11 2017Vol:11 No:10 2017Vol:11 No:09 2017Vol:11 No:08 2017Vol:11 No:07 2017Vol:11 No:06 2017Vol:11 No:05 2017Vol:11 No:04 2017Vol:11 No:03 2017Vol:11 No:02 2017Vol:11 No:01 2017
Vol:10 No:12 2016Vol:10 No:11 2016Vol:10 No:10 2016Vol:10 No:09 2016Vol:10 No:08 2016Vol:10 No:07 2016Vol:10 No:06 2016Vol:10 No:05 2016Vol:10 No:04 2016Vol:10 No:03 2016Vol:10 No:02 2016Vol:10 No:01 2016
Vol:9 No:12 2015Vol:9 No:11 2015Vol:9 No:10 2015Vol:9 No:09 2015Vol:9 No:08 2015Vol:9 No:07 2015Vol:9 No:06 2015Vol:9 No:05 2015Vol:9 No:04 2015Vol:9 No:03 2015Vol:9 No:02 2015Vol:9 No:01 2015
Vol:8 No:12 2014Vol:8 No:11 2014Vol:8 No:10 2014Vol:8 No:09 2014Vol:8 No:08 2014Vol:8 No:07 2014Vol:8 No:06 2014Vol:8 No:05 2014Vol:8 No:04 2014Vol:8 No:03 2014Vol:8 No:02 2014Vol:8 No:01 2014
Vol:7 No:12 2013Vol:7 No:11 2013Vol:7 No:10 2013Vol:7 No:09 2013Vol:7 No:08 2013Vol:7 No:07 2013Vol:7 No:06 2013Vol:7 No:05 2013Vol:7 No:04 2013Vol:7 No:03 2013Vol:7 No:02 2013Vol:7 No:01 2013
Vol:6 No:12 2012Vol:6 No:11 2012Vol:6 No:10 2012Vol:6 No:09 2012Vol:6 No:08 2012Vol:6 No:07 2012Vol:6 No:06 2012Vol:6 No:05 2012Vol:6 No:04 2012Vol:6 No:03 2012Vol:6 No:02 2012Vol:6 No:01 2012
Vol:5 No:12 2011Vol:5 No:11 2011Vol:5 No:10 2011Vol:5 No:09 2011Vol:5 No:08 2011Vol:5 No:07 2011Vol:5 No:06 2011Vol:5 No:05 2011Vol:5 No:04 2011Vol:5 No:03 2011Vol:5 No:02 2011Vol:5 No:01 2011
Vol:4 No:12 2010Vol:4 No:11 2010Vol:4 No:10 2010Vol:4 No:09 2010Vol:4 No:08 2010Vol:4 No:07 2010Vol:4 No:06 2010Vol:4 No:05 2010Vol:4 No:04 2010Vol:4 No:03 2010Vol:4 No:02 2010Vol:4 No:01 2010
Vol:3 No:12 2009Vol:3 No:11 2009Vol:3 No:10 2009Vol:3 No:09 2009Vol:3 No:08 2009Vol:3 No:07 2009Vol:3 No:06 2009Vol:3 No:05 2009Vol:3 No:04 2009Vol:3 No:03 2009Vol:3 No:02 2009Vol:3 No:01 2009
Vol:2 No:12 2008Vol:2 No:11 2008Vol:2 No:10 2008Vol:2 No:09 2008Vol:2 No:08 2008Vol:2 No:07 2008Vol:2 No:06 2008Vol:2 No:05 2008Vol:2 No:04 2008Vol:2 No:03 2008Vol:2 No:02 2008Vol:2 No:01 2008
Vol:1 No:12 2007Vol:1 No:11 2007Vol:1 No:10 2007Vol:1 No:09 2007Vol:1 No:08 2007Vol:1 No:07 2007Vol:1 No:06 2007Vol:1 No:05 2007Vol:1 No:04 2007Vol:1 No:03 2007Vol:1 No:02 2007Vol:1 No:01 2007