TY  - CHAP
AU  - Rodić, Aleksandar
AU  - Miloradović, Branko
AU  - Popić, Svemir
AU  - Spasojević, Sofija
AU  - Karan, Branko
PY  - 2014
UR  - https://dais.sanu.ac.rs/123456789/721
AB  - The chapter presents the development of a modular compliant robotic hand characterized by the anthropomorphic structure and functionality. The prototype is made based on experience in development of contemporary advanced artificial hands and taking into account the complementary aspects of human bio-mechanics. The robot hand developed in the Institute Mihailo Pupin is called “Pupin hand”. The Pupin hand is developed for research purposes as well as for implementation with service and medical robot devices as an advance robot end-effector. Mechanical design, system identification, modeling and simulation and acquisition of the biological skill of grasping adopted from humans are considered in the chapter. Mechanical structure of the tendon-driven, multi-finger, 23 degrees of freedom compliant robot hand is presented in the chapter. Model of the hand is represented by corresponding multi-body rigid system with the complementary structural elasticity inserted between the particular finger modules. Some characteristic simulation results are given in the chapter in order to validate the chosen design concept. For the purpose of motion capture of human grasping skill, an appropriate experimental setup is prepared. It includes an infrared Kinect camera that combines visual and depth information about objects from the environment. The aim of using the Kinect sensor is to acquire human grasping skill and to map this natural motion to the robotic device. The novelties of the robot hand prototyping beyond to the state-of-the-art are stressed out in the conclusion.
PB  - Springer International Publishing
T2  - New Trends in Medical and Service Robots: Theory and Integrated Applications
T1  - Development of Modular Compliant Anthropomorphic Robot Hand
SP  - 205
EP  - 219
DO  - 10.1007/978-3-319-01592-7_15
UR  - https://hdl.handle.net/21.15107/rcub_dais_721
ER  - 

@inbook{
author = "Rodić, Aleksandar and Miloradović, Branko and Popić, Svemir and Spasojević, Sofija and Karan, Branko",
year = "2014",
abstract = "The chapter presents the development of a modular compliant robotic hand characterized by the anthropomorphic structure and functionality. The prototype is made based on experience in development of contemporary advanced artificial hands and taking into account the complementary aspects of human bio-mechanics. The robot hand developed in the Institute Mihailo Pupin is called “Pupin hand”. The Pupin hand is developed for research purposes as well as for implementation with service and medical robot devices as an advance robot end-effector. Mechanical design, system identification, modeling and simulation and acquisition of the biological skill of grasping adopted from humans are considered in the chapter. Mechanical structure of the tendon-driven, multi-finger, 23 degrees of freedom compliant robot hand is presented in the chapter. Model of the hand is represented by corresponding multi-body rigid system with the complementary structural elasticity inserted between the particular finger modules. Some characteristic simulation results are given in the chapter in order to validate the chosen design concept. For the purpose of motion capture of human grasping skill, an appropriate experimental setup is prepared. It includes an infrared Kinect camera that combines visual and depth information about objects from the environment. The aim of using the Kinect sensor is to acquire human grasping skill and to map this natural motion to the robotic device. The novelties of the robot hand prototyping beyond to the state-of-the-art are stressed out in the conclusion.",
publisher = "Springer International Publishing",
journal = "New Trends in Medical and Service Robots: Theory and Integrated Applications",
booktitle = "Development of Modular Compliant Anthropomorphic Robot Hand",
pages = "205-219",
doi = "10.1007/978-3-319-01592-7_15",
url = "https://hdl.handle.net/21.15107/rcub_dais_721"
}

Rodić, A., Miloradović, B., Popić, S., Spasojević, S.,& Karan, B.. (2014). Development of Modular Compliant Anthropomorphic Robot Hand. in New Trends in Medical and Service Robots: Theory and Integrated Applications
Springer International Publishing., 205-219.
https://doi.org/10.1007/978-3-319-01592-7_15
https://hdl.handle.net/21.15107/rcub_dais_721

Rodić A, Miloradović B, Popić S, Spasojević S, Karan B. Development of Modular Compliant Anthropomorphic Robot Hand. in New Trends in Medical and Service Robots: Theory and Integrated Applications. 2014;:205-219.
doi:10.1007/978-3-319-01592-7_15
https://hdl.handle.net/21.15107/rcub_dais_721 .

Rodić, Aleksandar, Miloradović, Branko, Popić, Svemir, Spasojević, Sofija, Karan, Branko, "Development of Modular Compliant Anthropomorphic Robot Hand" in New Trends in Medical and Service Robots: Theory and Integrated Applications (2014):205-219,
https://doi.org/10.1007/978-3-319-01592-7_15 .,
https://hdl.handle.net/21.15107/rcub_dais_721 .