| Title |
Design and evaluation of anthropomorphic robotic hand for object grasping and shape recognition |
| Authors |
Devaraja, Rahul Raj ; Maskeliūnas, Rytis ; Damaševičius, Robertas |
| DOI |
10.3390/computers10010001 |
| Full Text |
|
| Is Part of |
Computers.. Basel : MDPI. 2021, vol. 10, iss. 1, art. no. 1, p. 1-14.. ISSN 2073-431X |
| Keywords [eng] |
3D printing ; Object grasping ; Robot manipulator ; Shape recognition ; Supervised learning |
| Abstract [eng] |
We developed an anthropomorphic multi-finger artificial hand for a fine-scale object grasping task, sensing the grasped object’s shape. The robotic hand was created using the 3D printer and has the servo bed for stand-alone finger movement. The data containing the robotic fingers’ angular position are acquired using the Leap Motion device, and a hybrid Support Vector Machine (SVM) classifier is used for object shape identification. We trained the designed robotic hand on a few monotonous convex-shaped items similar to everyday objects (ball, cylinder, and rectangular box) using supervised learning techniques. We achieve the mean accuracy of object shape recognition of 94.4%. |
| Published |
Basel : MDPI |
| Type |
Journal article |
| Language |
English |
| Publication date |
2021 |
| CC license |
|
