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Mechanical Design of Versatile, Robust, and Affordable Tendon-Driven Robotic Hands
Mechanical design of a bioinspired tendon-driven robotic hand driven by electric motors. We will explore the expansion of an existing finger design with special rolling-joints to create a full, five-fingered robotic hand with a bioinspired thumb, wrist, and palm design. Next to human-like dexterity, the system will be robust and easy-to-fabricate based on 3D printing.
We are working on a robotic hand that is dexterous, robust, and easy to fabricate. This project aims to create a universal gripper for mobile robotic applications and could enable the automation of human-like tasks that are too complex for conventional grippers. Our proven mechanical design for a bioinspired finger uses electric motors to actuate tendon-driven rolling joints in the fingers.
We are working on a robotic hand that is dexterous, robust, and easy to fabricate. This project aims to create a universal gripper for mobile robotic applications and could enable the automation of human-like tasks that are too complex for conventional grippers. Our proven mechanical design for a bioinspired finger uses electric motors to actuate tendon-driven rolling joints in the fingers.
The student shall further optimize the finger design based on our previous work and add a bioinspired thumb, palm, and wrist design. At the end of this project, the capabilities of the fully functional hand shall be demonstrated experimentally.
**Possible Work Packages**
1. Literature review of existing work on the design of tendon-driven robotic hands and grippers, etc.
2. Further optimize existing design of a tendon-driven finger.
3. Design a bioinspired thumb with a 2 DoF carpometacarpal joint.
4. Design a bioinspired palm and 2 DoF wrist joint.
5. Optimize actuation principle, tendon routing and attachment, assembly and fabrication of the system.
6. Investigate model-based state estimation for the finger design.
7. Integrate actuators and sensors in collaboration with electrical engineers.
**Requirements**
1. High motivation and problem-solving ability
2. Capable of both working independently and cooperating in a team
3. Keen to learn more about soft-rigid hybrid robotics and bioinspired design
4. Good skills in CAD design (Fusion) and rapid prototyping (FDM)
5. First experience in developing complex mechanical motion systems
6. Knowledge of Newtonian mechanics and basic continuum mechanics
7. Experience in silicone molding is a plus
8. Proficiency in C/C++ and/or Python is a plus
The student shall further optimize the finger design based on our previous work and add a bioinspired thumb, palm, and wrist design. At the end of this project, the capabilities of the fully functional hand shall be demonstrated experimentally.
**Possible Work Packages**
1. Literature review of existing work on the design of tendon-driven robotic hands and grippers, etc.
2. Further optimize existing design of a tendon-driven finger.
3. Design a bioinspired thumb with a 2 DoF carpometacarpal joint.
4. Design a bioinspired palm and 2 DoF wrist joint.
5. Optimize actuation principle, tendon routing and attachment, assembly and fabrication of the system.
6. Investigate model-based state estimation for the finger design.
7. Integrate actuators and sensors in collaboration with electrical engineers.
**Requirements**
1. High motivation and problem-solving ability
2. Capable of both working independently and cooperating in a team
3. Keen to learn more about soft-rigid hybrid robotics and bioinspired design
4. Good skills in CAD design (Fusion) and rapid prototyping (FDM)
5. First experience in developing complex mechanical motion systems
6. Knowledge of Newtonian mechanics and basic continuum mechanics
7. Experience in silicone molding is a plus
8. Proficiency in C/C++ and/or Python is a plus
Barnabas Gavin Cangan, gavin.cangan@srl.ethz.ch, Soft Robotics Lab, D-MAVT
Stefan Weirich, stefan.weirich@srl.ethz.ch, Soft Robotics Lab, D-MAVT
Thomas Buchner, thomas.buchner@srl.ethz.ch, Soft Robotics Lab, D-MAVT
Prof. Dr. Robert Katzschmann, rkk@ethz.ch, Soft Robotics Lab, D-MAVT