15.1 - Project Proposal

Introduction

The fascination with replicating human abilities through robotics has been a cornerstone of technological advancement. The human hand, with its complex range of motion and ability to execute delicate tasks, stands as a pinnacle of biological engineering. A robotic hand that mimics the dexterity and precision of a human hand can revolutionize multiple sectors, including prosthetics, robotic assistance in surgeries, and intricate manufacturing processes. The need for such a device is driven by the limitations of current robotic mechanisms to perform tasks requiring the nuanced control and gentle touch of a human hand. This project aims to bridge that gap by designing a robotic hand that can replicate the movement and force profiles of a human hand, thus opening new avenues in robotics applications where such precision and adaptability are crucial.

Problem Statement

The primary challenge lies in emulating the intricate motions and force exertions of a human hand, which involve a complex coordination of joints, tendons, and muscles. Traditional robotic designs, which often rely on simple joints and linear actuators, fall short in achieving the multi-axis movements and varied force profiles necessary for tasks such as typing, playing musical instruments, or handling delicate materials. The problem is not just the reproduction of motion but also the accurate and variable force application without compromising speed or dexterity. This requires a solution that transcends the limitations of conventional robotics, leveraging a synthesis of mechanical innovation and control strategy that can dynamically adapt to the nuanced demands of the tasks at hand.

Mechanism

Our proposed mechanism involves a robotic hand comprising articulated fingers with multiple degrees of freedom, capable of mimicking the kinematics of a human hand. The design will integrate servo motors for joint actuation and an advanced control system that utilizes machine learning algorithms to replicate human hand movements. This system will be informed by the study of human hand biomechanics, translating complex motion and force profiles into actionable designs for the robotic hand. 

Proposed Scope

Throughout the semester, we aim to design and prototype a single robotic finger, fully articulating and capable of demonstrating a range of motions and force exertions reflective of its human counterpart. Our analysis will focus on kinematic modeling, force distribution analysis, and material selection to ensure realistic movement and tactile feedback. This prototype will serve as a proof of concept for the full hand, with scalability and integration as key considerations for future development. We plan to leverage affiliations with TIW to access advanced modeling software and 3D printing resources for prototype development.

Preliminary Design

The preliminary design will feature a kinematic diagram of the robotic finger, outlining joint locations, degrees of freedom, and the proposed actuation mechanism. Initial material selections will be made based on required flexibility and strength, with a focus on simulating the resistance of muscles. The control system's architecture will be drafted to outline the integration of actuator control and machine learning algorithms for motion replication and adaptive force control.

This is our preliminary Design, it consists of a wheel that will be spun by a servo motor. The joint directly attached to the axle of the wheel leads to our grounded link and is analogous to the metacarpal bones in the human palm. The two joints above are the digits of the finger. The series of links between will function similarly to the tendons of the hand, pulling the fingers inward as the wheel is spun by the axle. 

Degrees of freedom:

L=6, J1=7, J2=0

M=3(L-1)-2J1-J2=3(6-1)-2(7)-0=15-14= 1 degree of freedom.