Int
ern
at
i
onal
Journ
al of
R
obot
ic
s
and
Autom
ati
on (I
JRA)
Vo
l.
9
,
No.
1
,
Ma
rch
20
20,
pp.
6
~
1
6
IS
S
N:
20
89
-
4856,
DOI: 10
.11
591/
i
jra
.
v9
i
1
.
pp
6
-
1
6
6
Journ
al h
om
e
page
: htt
p:
//
ij
ra
.iae
score
.com
Des
i
gn a
nd
deve
l
opment
of
s
oft ro
botic h
an
d for ve
rtical
farmin
g in
spacecraft
Aswa
th
Sures
h
1
,
G
an
es
ha U
dup
a
2
, Dhru
v Gab
a
3
1,
3
Depa
rt
m
ent
Mec
han
ic
a
l and
A
ero
spac
e
Eng
ineeri
ng,
New
York
,
Univer
si
t
y
,
Bro
okl
y
n
,
US
A
2
Depa
rt
m
ent
of M
ec
hanica
l
Eng
i
nee
ring
,
Am
rit
a
School
of Engin
ee
ring
,
Ind
ia
Art
ic
le
In
f
o
ABSTR
A
CT
Art
ic
le
history:
Re
cei
ved
Ma
y
9
, 2
01
9
Re
vised
Oct
6
,
201
9
Accepte
d
Oct
31
, 201
9
For
col
oni
zatio
n
in
de
ep
spa
ce
we
n
ee
d
to
expl
o
re
the
f
ea
sibil
ity
o
f
a
bior
ege
n
era
t
iv
e
s
y
s
te
m
in
m
icrogravi
t
y
or
art
i
fic
i
al
gr
avit
y
en
vironments.
The
proc
ess
has
var
ious
complex
it
ie
s
form
ran
gin
g
to
biol
ogi
cal
o
bstac
l
es
to
engi
ne
eri
ng
l
imita
t
ions
of
the
s
pac
ec
r
aft.
Con
ce
ntr
at
ion
o
f
m
ic
robe
s
in
the
conf
ine
m
ents
of
a
spac
e
cra
f
t
ca
n
b
e
fa
ta
l
f
or
the
cr
ew.
In
thi
s
pape
r
,
a
solut
ion
to
the
el
ev
at
ed
m
ic
rob
i
al
le
v
el
s
b
y
far
m
i
ng
using
robo
ts
i
s
discussed.
The
soft
robot
ic
arm
is
m
ade
up
of
As
y
m
m
et
ric
Flexi
ble
Pn
euma
ti
c
Actuator
(AF
PA
).
The
AF
PA
under
int
er
nal
pre
ss
ure
wi
l
l
cur
ve
in
th
e
d
ire
c
ti
on
of
the
side
hav
ing
gre
ater
thickness
as
th
e
expa
nsio
n
of
th
e
thi
nn
er
side
(ou
tside
rad
ius)
will
be
m
ore
tha
n
th
ic
k
er
side
(
inside
rad
ius)
due
to
diffe
ren
ti
a
l
expa
nsion
a
nd
m
om
ent
induc
e
d
due
to
e
cce
ntri
cit
y
.
Sim
ulation
result
s
demons
tra
te
tha
t
bendi
ng
base
d
o
n
AF
PA
ca
n
m
ee
t
th
e
d
esigne
d
r
equi
remen
t
of
appl
i
cation.
T
he
AF
PA
is
used
for
fiv
e
fing
ers
of
the
robo
tic
ha
nd.
Th
e
safe
,
soft
touc
h
and
g
e
ntl
e
m
oti
on
of
th
e
be
ll
ow
(
AF
PA
)
give
s
the
f
eel
of
rea
l
hum
an
hand.
Th
e
int
ern
al
pre
ss
ure
of
th
e
AF
PA
is
cont
r
oll
ed
using
a
sol
enoi
d
val
v
e
which
is
in
te
rf
a
ce
d
using
an
Ar
duino
m
ic
roc
on
t
roll
er
for
hand
l
ike
m
oves.
The
b
endi
ng
of
the
f
inge
rs
and
degr
e
e
of
fr
ee
d
om
(DO
F)
of
the
joi
n
ts
of
the
h
and
is
cont
r
oll
ed
using
an
I
MU
and
f
le
x
se
nsor.
W
ire
l
ess
c
onnec
t
ion
of
the
h
and
and
th
e
cont
ro
l
s
y
s
te
m
i
s
implemente
d
u
sing
XBee
pro
6
0m
W
with
a
ran
g
e
of
1
m
iles.
Th
e
pn
eumat
ic
soft
robotic
h
and
is
m
ade
up
of
solenoi
d
val
ve
,
Mini
Com
pre
ss
or,
AF
PA
bel
low,
and
Servo
s.
Thi
s
soft
robot
ic
h
and
h
as
m
an
y
adva
n
ta
ge
s
such
as
good
a
dapt
ab
il
ity
,
s
imple
stru
ct
ur
e,
sm
al
l
si
ze,
h
igh
fle
xibilit
y
and
les
s
ene
rg
y
loss.
As
an
extension
Manua
l
cont
rol
of
the
robot
using
a
vir
tua
l
rea
l
ity
envi
ron
m
ent
and
wel
l
as
som
e
poss
ible
aspe
ct
s
of
an
au
tomate
d
far
m
ing
s
y
stems
can be
conside
r
ed as
future a
dd
it
io
ns.
Ke
yw
or
d
s
:
AF
P
A
Flex Se
nsor
IMU
So
le
noid
V
al
ve
Ver
ti
cal
Far
m
ing
This
is an
open
acc
ess arti
cl
e
un
der
the
CC
B
Y
-
SA
l
ic
ense
.
Corres
pond
in
g
Aut
h
or
:
Asw
at
h
S
uresh
,
Dep
a
rtm
ent o
f M
echan
ic
al
a
nd
Aeros
pace E
ng
i
neer
i
ng,
New Y
ork U
niv
ersit
y,
6
Me
tr
oTec
h
C
enter,
Br
ooklyn, N
Y 112
01
, US
A
.
Em
a
il
:
as10
61
6@nyu
.edu
1.
INTROD
U
CTION
Mi
ll
ion
s
of
pe
op
le
acr
os
s
the
w
or
l
d
a
re
w
orkin
g
i
n
e
nv
i
ronm
ents
that
ha
ve
hazar
dous
m
at
erial
s
an
d
cou
l
d
pr
ov
e
t
o
be
dead
ly
as
well
.
The
m
aj
or
c
oncer
n
of
handlin
g
hazar
dous
m
at
erial
s
by
hum
ans
th
at
are
work
i
ng
i
n
a
place
fill
ed
with
rad
ia
ti
ons
or
ha
ving
c
onsidera
ble
am
ount
s
of
ra
dio
act
ive
m
at
erial
s
is
li
f
e
threateni
ng
for
the
wor
ker
s
.
These
pr
e
ve
ntive
m
easur
es
ar
e
nev
e
r
10
0
%
safe.
I
n
2012,
1133
pe
op
le
di
ed
as
a
res
ult
of
haz
ardo
us
waste
a
cci
den
ts.
I
n
2014,
4679
pe
ople
die
d
on
t
he
job
in
the
Un
it
e
d
Stat
es
of
Am
erica;
on
an
a
ver
a
ge,
13
deat
hs
pe
r
da
y
wer
e
re
porte
d.
The
sta
ti
sti
cs
sho
w
a
co
ns
i
der
a
ble
inc
reas
e
in
t
he
a
nnual
deaths
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
R
ob
&
A
uto
m
IS
S
N:
20
89
-
4856
Desig
n a
nd d
e
vel
opmen
t
of s
oft ro
boti
c hand fo
r
…
(
Aswat
h Su
r
esh
)
7
of
people
w
or
l
dw
i
de
due
t
o
ha
zardo
us
waste
s.
T
hus,
to
dec
rease
t
his
ra
dical
increa
se
i
n
t
he
num
ber
of
deaths
so
m
e seriou
s
st
eps
s
houl
d be t
aken.
Re
centl
y
there
ha
ve
bee
n
a
lot
of
a
dv
a
nce
m
ent
in
t
he
pr
even
ti
ve
m
easur
es
to
a
vo
i
d
t
hese
acci
de
nts,
bu
t
they
a
re no
t
capa
ble o
f
er
adicat
ing
li
fe
t
hr
eat
t
o
t
he
saf
et
y
of
the
in
divi
du
al
.
T
hu
s
,
t
he
re
is
a n
ee
d
to
create
a
syst
em
that
is
capa
ble
of
handlin
g
haza
r
dous
m
at
erial
s
rem
otely
instea
d
of
hum
an
on
-
sit
e
deali
ng
with
the
ra
dio
act
ive
m
a
te
rial
s.
W
it
h
the
a
dvent
of
new
te
c
hnol
ogie
s
(like
Virtu
al
Re
al
ity),
the
ease
of
us
e
of
these
rob
ots
has
tre
m
end
ously
inc
reased
w
hich
has
le
d
to
a
boos
t
of
their
use
in
a
var
ie
ty
of
dom
ai
ns
.
These
adv
a
ncem
ents w
il
l even
t
ually
incr
ease
the
quali
ty
an
d safet
y of t
he w
orkers at
su
c
h w
ork
places.
W
it
h
the
de
ve
lop
m
ent
of
m
od
e
r
n
s
ci
ence
and
te
c
hnolog
y,
r
obots
hav
e
be
en
us
e
d
i
n
a
var
ie
ty
of
app
li
cat
io
ns
,
w
hile
rob
otic
te
l
eop
e
rati
on
te
chnolo
gy
can
spa
n
s
pace,
place
people,
m
achines,
a
nd
ta
sk
obj
ect
s
in
a
cl
os
ed
l
oo
p
to
ac
hieve
t
he
hum
an
and
the
obj
ect
ive
world
of
sy
nc
hro
nous
m
achine
interact
io
n,
and
t
o
i
m
pr
ove
peopl
e'
s
per
cepti
on
a
nd
be
ha
viour
in
a
la
rg
e
exte
nt
[
1].
F
or
r
obots
in
c
om
plex
op
erati
ng
en
vir
on
m
ents
(su
c
h
as
hom
e
se
rv
ic
es
),
s
om
eti
m
es
rob
otic
visio
n
m
ay
be
dif
ficult
to
pro
vid
e
e
nough
i
nfor
m
at
ion
to
su
ccess
fu
ll
y
pe
rfor
m
su
c
h
ta
s
ks
.
A
ddit
ion
al
l
y,
so
m
e
occl
usi
on
of
the
sit
ua
ti
on
in
the
r
eal
in
door
en
vir
onm
ent
of
te
n
oc
cu
rs,
wh
ic
h
m
akes
r
el
yi
ng
so
le
ly
on
the
r
obot
it
se
lf
is
dif
ficult
to
com
plete
and
correct
pe
rc
e
ption
of
the
s
urrou
nd
i
ng
e
nviro
nm
ent,
a
nd
to
m
ake
decisi
ons
.
In
this
case
,
it
i
s
an
ef
fecti
ve
way
t
o
s
olv
e
these
pro
blem
s
by
putt
ing
hum
an,
r
obot
a
nd
ta
s
k
obj
ect
in
a
cl
os
e
d
loop
a
nd
intr
od
ucin
g
hu
m
an
e
xp
e
rience
to
c
ontr
ol
the ro
bo
t
[2,
3].
In
orde
r
to
de
al
with
the
c
om
plex
op
erati
ng
ta
s
ks
,
the
operat
or
m
us
t
al
ways
be
hav
e
accor
ding
to
the
act
ual
sit
ua
ti
on
of
the
tra
nsfo
rm
at
ion
,
the
robo
t
c
oor
din
a
te
d
co
ntr
ol,
an
d
co
ns
ti
tute
a
hum
an
-
rob
ot
w
orki
ng
env
i
ronm
ent
syst
e
m
.
Since
hum
an
bein
gs
a
re
go
od
at
pe
rfor
m
i
ng
pe
rce
ptu
al
un
der
sta
nding
,
act
ion
pla
nn
i
ng,
act
ion
res
olu
ti
on,
a
nd
m
akin
g
decisi
ons
bas
ed
on
e
xperie
nc
e,
people
play
a
c
ru
ci
al
r
ole
i
n
t
he
process
.
At
this
po
i
nt,
pe
ople
are
re
qu
ir
ed
to
com
plete
the
i
ntell
igent
anal
ysi
s
par
t,
an
d
t
hen
c
om
plete
t
he
un
der
l
yi
ng
work
thr
ough
t
he
bo
dy
la
ng
uage
c
on
t
ro
l
r
obot.
B
y
this
process
,
this
m
an
-
m
ac
hin
e
interact
io
n
ca
n
ac
hieve
bette
r
resu
lt
s.
T
he
m
a
nipulat
or is
the
m
ai
n
operati
ng m
echan
ism
of t
he r
obot.
T
he
refor
e
, it
is
of
gr
eat
sig
nifica
nce
to
carry
ou
t t
he re
search
of t
he
re
m
ote co
ntro
l
s
yst
e
m
b
ased
on
gestu
re c
on
t
r
ol.
The
Mi
cr
o
-
E
nginee
rin
g
De
pa
rtm
ent
(I
ns
ti
tut
de
Syst
èm
e
s
R
obotiq
ues:
IS
R)
of
t
he
S
wiss
Fe
der
al
In
sti
tute
of
Tec
hnology
(
EPFL
)
is
in
vo
l
ve
d
in
rob
otic
desig
n
and
dev
el
opm
e
nt,
with
a
sp
eci
al
f
ocu
s
on
i
ndus
tria
l
app
li
cat
io
ns
.
T
he
cl
assic
al
m
et
hods
f
or
r
obotic
syst
e
m
s
pr
ogram
m
ing
(off
-
li
ne
as
well
as
on
-
li
ne
)
la
ck
use
r
fr
ie
ndle
ss
an
d
pe
rfor
m
ance.
This
is
wh
y,
since
19
90
pe
op
le
ha
ve
be
en
de
velo
ping
Virt
ual
Re
al
it
y
(V
R
)
interfaces
to
si
m
pl
ify
robo
t
ta
sk
plan
ning,
s
uper
visio
n a
nd
c
on
t
ro
l
[4
]
.
I
n a
dd
it
io
n,
t
he
In
t
el
li
gen
t
Me
cha
nism
s
Group
(
IMG
)
of
the
N
ASA
Am
es
Re
search
Ce
nter
(
dev
e
lop
e
rs
of
the
V
irtual
E
nv
i
ron
m
ent
Ve
hicle
I
nterf
ace
[5
,
6],
a
us
e
r
i
nterf
ace
t
o
ope
rate
sci
e
nce
e
xplo
rati
on
rob
ots)
has
s
how
n
that
a
to
ol
t
o
ge
ner
at
e
ra
pid
ly
VR
interfaces
for n
ew ro
bots arm
m
anipu
la
to
rs would
pr
ov
i
de great
ben
e
fits
[7
,
8]
.
This
pa
pe
r
intr
oduces
a
c
om
plete
integrated
syst
e
m
that
com
bin
es
ever
y
ne
cessary
asp
ect
of
a
hum
an
hand
to
act
as
an
I
ntell
igent
Mult
i
-
Fing
e
re
d
Dex
te
r
ous
H
a
nd
w
hich
is
ca
pab
le
of
do
i
ng
ta
sk
s
that
re
quire
d
hu
m
ans
in
the
past.
The
syst
em
con
sist
s
of
a
two
-
way
c
omm
un
ic
at
ion
bet
ween
tw
o
A
rdu
ino
thr
ough
X
be
e
pro
.
The
c
omm
un
ic
at
ion
s
pro
vid
e
bette
r
netw
ork
conditi
ons
a
nd
ens
ure
i
nterru
ption
-
f
ree
com
m
un
ic
at
ion
bet
ween
the
hand
a
nd
th
e
hum
an
with
a
m
axi
m
u
m
range
of
2
m
i
le
s.
The
r
obotic
ha
nd
ca
n
be
c
on
tr
olled
from
any
wh
e
re
within t
he ran
ge
and
helps
to per
form
the task wit
hout
visit
ing t
he si
te
.
Sam
su
ng
Gea
r
360
te
ch
no
l
ogy
is
us
e
d
to
give
a
virtu
al
vi
de
o
feedbac
k
of
t
he
rob
otic
arm
env
i
ronm
ent
in
w
hic
h
the
r
obotic
hand
is
work
i
ng.
This
te
chnolo
gy
e
na
bles
us
t
o
oper
at
e
the
hand
in
the
sam
e
m
an
ner
in
wh
ic
h h
um
an bein
gs us
e t
heir o
wn
hands
, t
hu
s
m
aking t
he
task
easy
to
pe
rfor
m
. T
he
m
os
t i
m
po
rtant a
s
pect
of
the
syst
em
is
that
it
do
es
n'
t
require
a
ny
hu
m
an
presen
ce
at
th
e
place
of
work
t
hu
s
pr
e
ven
ti
ng
the
di
rect
e
xposure
of
hum
an
li
fe
to
the
hazar
do
us
e
nv
ir
onm
ent.
The
m
ast
er
con
t
ro
l
of
t
he
rob
otic
hand
is
m
ade
us
in
g
a
glove
hav
i
ng I
MU
an
d
m
ulti
ple
flex
se
ns
ors
at
ta
ch
ed
t
o
i
t
f
or g
est
ur
e
rec
ogniti
on
.
T
he
acce
le
r
om
et
er
is used
t
o
giv
e
the
acce
le
rati
on
of
the
ha
nd
i
n
th
e
th
ree
a
xe
s
an
d
a
gyrosc
op
e
is
us
e
d
to
giv
e
the
a
ngul
ar
r
otati
on
a
nd
angular
velocit
y
of
t
he
hand.
Flex
se
ns
ors
a
re
hel
pful
in
de
fining
the
press
ur
e
app
li
ed
thr
ough
ha
nds
a
nd
f
ing
e
r
m
ov
e
m
ents. T
he
c
om
bin
at
ion
of both
I
M
U and fle
x
se
nsor
h
el
p t
o
m
i
m
ic
our ha
nd m
ov
em
ents
perfect
ly
[
9]
.
These
ki
nd
of
syst
e
m
s
are
al
so
ve
ry
us
ef
ul
in
day
-
to
-
day
act
ivit
ie
s
besi
de
t
he
s
pace
a
pp
li
cat
io
ns
.
Con
si
der
a
pro
blem
wh
en
the
re
is
sho
rtage
of
tim
e
and
yo
u
wan
t
t
o
co
ok
f
ood
with
ou
t
w
ast
ing
ti
m
e
or
you
a
r
e
com
ing
from
office
an
d
yo
u
wan
t
to
util
ise
the
travell
in
g
tim
e
in
pr
e
pa
rin
g
f
ood
in
your
kitche
n.
I
n
these
conditi
ons,
thi
s
kind
of
a
n
a
rm
is
be
nef
ic
i
al
.
T
he
syst
em
is
ca
pa
ble
of
c
reati
ng
a
vir
tual
e
nv
ir
onm
ent
of
the
kitche
n a
nd
helps
the
us
e
r
to
pe
rfor
m
the
cookin
g t
as
k
w
hile
travell
in
g
or
stu
dying.
T
he
arm
in
the
kit
chen
cond
ucts
the
c
ooking
wor
k
without
hav
i
ng
the
nee
d
of
t
he
hu
m
an
bei
ng
to
be
physi
cal
ly
pr
esent
t
here.
Gea
r
360
cam
era
re
plica
te
s
the
w
ho
le
kitc
he
n
e
nv
i
ronm
ent
vi
rtuall
y
in
f
r
ont
of
t
he
us
e
r.
Th
us
,
this
syst
e
m
is
a saluta
ry c
on
t
rib
ution i
n hel
ping the
hum
ans
i
n
sa
ving ti
m
e and
preve
nt
ing
m
any
li
ves.
If
a
r
obotic
m
a
nipulat
or
is
to
be c
on
t
ro
ll
ed
, i
t
is
usual
ly
done
us
in
g t
he R
F
(Radio
Fre
que
ncy)
rem
o
te
con
t
ro
l
or
by
ge
sture
rec
ogniti
on
with
both
r
obot
a
nd
hum
a
n
within
t
he
sa
m
e
env
ir
onm
e
nt.
B
ut
the
pro
blem
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2089
-
4856
I
nt
J
R
ob
&
A
uto
m
,
Vo
l.
9
, No
.
1
,
Ma
rch 2
020
:
6
–
1
6
8
with
c
onve
ntio
nal
syst
em
s
is
that
they
ha
ve
a
ve
ry
dif
ficult
and
c
um
ber
som
e
us
er
inte
rf
a
ce,
wh
ic
h
i
nh
i
bits
it
s
us
a
bili
ty
b
y a g
reat deal.
The
intera
ct
ive
use
r
inter
face
(36
0
-
degree
Vi
sion)
a
nd
t
he
e
asy
m
i
m
ic
kin
g
con
t
ro
l
of
the
r
obotic
ha
nd
base
d
on
hu
m
an
ha
nd
m
akes
our
syst
em
far
apar
t
from
the
pr
i
or
a
rt.
T
his
way
we
c
ould
con
t
ro
l
our
rob
otic
arm
in
sp
ace,
house
ho
l
ds
as
well
a
s
in
places
of
ha
zardo
us
m
at
er
ia
ls.
The
soft
f
eel
of
the
nitrit
e
rubb
e
r
r
oboti
c
hand
giv
es
t
he
feel
of
real
hu
m
an
ha
nd
a
nd
it
'
s
ver
y
sa
fe
at
w
ork.
A
par
t
fro
m
this,
our
syst
e
m
is
m
ade
i
n
s
uch
a m
ann
er th
at
i
t cou
l
d
al
s
o
a
ddress
the
issue
of cos
t e
ff
ect
i
ve
ness.
2.
DESIG
N
A
N
D ANALY
SI
S
OF ROBOT
I
C
H
A
ND
The
Asym
m
et
r
ic
Flexible
P
ne
um
atic
Actuator
(AFP
A)
is
de
sign
e
d
in
su
c
h
a
w
ay
that
one
hal
f
of
it
has
t
he
pro
file
o
f
a b
el
lo
w
w
hi
le
the o
the
r
ha
lf
is flat
. I
t
is
a sing
le
cham
bered
t
ubular
str
uc
ture
with
o
ne
o
f
it
s
sides
thic
ker
th
an
the
ot
her.
T
he
ecce
ntrici
ty
of
the
bell
ow
gen
e
rates
t
he
di
ff
ere
ntial
ex
pa
ns
io
n
of
the
to
p
a
nd
bo
tt
om
of
t
he
a
sy
m
m
e
tric
bellow
an
d
m
om
en
t
wh
ic
h
ca
us
es
the
act
uato
r
t
o
bend
m
or
e
to
w
ard
s
the
t
hicke
r
side.
The
asy
m
m
et
ri
c
bello
w
desi
gn
giv
es
m
axi
m
um
def
le
ct
ion
up
to
a
certai
n
value
of
e
ccent
rici
ty
and
is
ca
pab
le
of w
it
hs
ta
nd
i
ng
high
pr
es
sure
as c
om
par
ed
t
o norm
al
sy
mm
et
ric d
esi
gns.
The
de
flect
ion
of
the
act
uato
r
is
al
so
a
ff
ect
e
d
by
t
he
s
ha
pe
of
the
bellow
pr
of
il
e.
As
a
var
y
ing
inter
nal
pr
ess
ure
was
a
pp
li
ed
al
ong
t
he
interi
or
of
t
he
A
FP
A,
the
per
ce
ntages
of
exp
a
ns
i
on
i
nc
reased
grad
ual
ly
fo
r
tria
ngular,
tra
pe
zoidal,
U
-
s
ha
ped,
a
nd
s
qua
re
s
ha
ped
bell
ow
pr
of
il
es
re
sp
ect
ively
.
It
can
be
i
nf
e
rr
e
d
t
hat
the
tria
ngular
sh
a
ped
prof
il
e
is
the
m
os
t
su
i
ta
ble
on
e
sinc
e
it
prov
i
des
th
e
be
st
def
le
ct
ion.
The
act
uat
or
was
m
ade
of
a
t
wo
-
com
ponen
t
ni
tril
e
rubber
w
hich
is
RTV
(
room
tem
per
at
ur
e
vulc
anizi
ng)
ty
pe.
The
m
at
erial
pro
per
ti
es
of
ni
tril
e rubb
e
r
a
re
li
ste
d
in t
he fo
ll
ow
in
g
T
a
ble
1
[10
,
11]
.
Table
1.
Mat
er
ia
l prop
e
rtie
s of
nitril
e
rub
ber
Pto
p
erties
Valu
es
Ap
p
eara
n
ce
Black
Co
lo
r
Den
sity
1
3
0
0
Kg/
m
3
Sh
o
re
Hardn
ess
60
-
62
Tens
ile Str
en
g
th
1
4
.32
M
Pa
Elon
g
tio
n
at
b
reak
475%
The
C
AD
m
odel
of
t
he
A
FP
A
is
show
n
i
n
Fi
gure
1.
T
he
m
od
el
s
we
re
c
reated
with
va
ryi
ng
par
am
et
ers
of
A
a
nd
B
to
a
naly
ze
an
d
ef
fe
ct
ively
fin
d
t
he
opti
m
u
m
design
that
is
res
pons
ible
f
or
ecce
ntric
act
uation,
w
he
re
A
a
nd
B
re
pr
es
ent
the
thic
kn
e
ss
of
the
plate
a
t
the
t
op
an
d
th
e
bello
w
side
r
especti
vely
.
T
he
le
ngth
of
t
he
m
od
el
is desig
ne
d
as
27.5 m
m
w
it
h
t
he radi
us
a
s
2.
5
m
m
.
(a)
(b)
(c)
Figure
1
.
CAD
m
odel
of
th
e
AF
PA
;
(a)
Front
vi
ew,
(
b)
Side
vi
ew,
(c)
W
i
refra
m
e v
ie
w
Table
2
s
how
s
four
m
od
el
s
wh
ic
h
are
use
d
to
m
easur
e
the
el
ast
ic
def
orm
ation
wit
h
res
pect
to
the
a
pp
li
ed
pr
e
ssu
re
.
It
is
noti
ced
t
hat
wh
il
e
the
thic
kn
e
ss
of
the
plate
at
th
e
bello
w
side
(
B)
rem
ai
ns
c
onsta
nt
,
the
t
hick
ness
a
t
the
to
p
(
A)
in
creases
f
ro
m
1.5 m
m
to
3 m
m
. B
ased
on
our
analy
sis,
we
ha
ve
seen
that
m
od
el
4
giv
es
the
le
ast
defor
m
at
ion
w
hile
m
od
el
2
gi
ves
the
best
defor
m
at
ion
.
Th
u
s
,
it
is
ob
s
er
ved
that
the
defor
m
at
ion
of
the
a
sym
m
e
tric
bellow
act
uato
r
is
influ
e
nc
ed
by
the
ecc
entrici
ty
pr
ovi
ded
up
to
a
cer
ta
in
extent.
F
rom
this
ph
e
nom
eno
n,
i
t
can
be
in
ferr
ed
that
as
the
ecce
ntrici
ty
increases
by
incr
easi
ng
t
he
thic
kn
e
ss
of
the
plate
at
the
to
p
si
de,
t
he
re
is
al
s
o
a
sim
ul
ta
neo
us
inc
rease
in
the
sti
ffness
t
hat
re
duces
t
he
deform
at
ion
of
the
a
ct
uator
to a c
onsidera
bl
e extent.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
R
ob
&
A
uto
m
IS
S
N:
20
89
-
4856
Desig
n a
nd d
e
vel
opmen
t
of s
oft ro
boti
c hand fo
r
…
(
Aswat
h Su
r
esh
)
9
Table
2.
Param
et
ers
of
AFPA
Mod
el ty
p
e
A (
m
m
)
B
(
m
m
)
Mod
el 1
1
.5
1
.5
Mod
el 2
2
1
.5
Mod
el 3
2
.5
1
.5
Mod
el
4
3
1
.5
Figure
2
an
d
F
igure
3
sho
w
the
de
f
or
m
at
ion
and
stress
a
na
ly
ses
of
m
od
el
2
of
t
he
A
FP
A
usi
ng
PTC
Creo
Sim
ulate
so
ft
war
e
,
wher
e
the
A
FP
A i
s
su
bject
e
d t
o
five
dif
fer
e
nt
i
ntern
al
press
ur
es
su
c
h
as
30
0
kPa,
350
kP
a,
400
kP
a
,
450
kPa,
a
nd
500
kPa.
Th
e
var
ia
ti
on
i
n
a
na
ly
sis
resu
lt
a
nd
the
ex
pe
rim
ental
resu
lt
i
s
due
t
o
the
er
ror
ca
us
e
d
in
m
od
el
ing
and
analy
zi
ng
us
in
g
t
he
s
of
t
w
are.
In
ad
diti
on
,
the
AFPA
is
m
ade
of
nitril
e
rub
ber
wh
ic
h
is
a
hi
ghly
el
ast
ic
m
at
erial
and h
as
no
nl
inear p
r
operty
, w
hic
h
m
akes it
diff
ic
ult
to
a
naly
ze
la
r
ger v
al
ues
of
d
ef
orm
ation
us
in
g
the
s
of
t
war
e
.
It
is
dif
fi
cult
to
theo
reti
cal
ly
pr
edict
th
e
r
at
e
at
wh
ic
h
the
AFPA b
e
nds
due
to
the
high
pr
e
ssu
re
.
It
is
noti
ced
that
t
he
m
a
xim
u
m
and
m
i
nim
u
m
def
or
m
at
ion
as
well
as
the
V
on
Mi
ses
stress
in
the
AFPA
increase
s
with
t
he
inc
rease
i
n
the
inter
nal
pressure.
T
he
A
FPA
fin
ge
r
str
uctu
re
prototype
is
as
sh
ow
n
i
n
F
i
gur
e 4
.
(a)
(b)
(c)
(d)
(e)
Figure
2
.
De
form
ation
a
naly
sis of m
od
el
3
AF
P
A for
var
i
ou
s
inter
nal
pressures (
a)
300 kPa
, (b
) 350
kPa,
(c)
400 kPa
, (d
) 4
50 kPa, a
nd
(e) 5
00 kPa
(a)
(b)
(c)
(d)
(e)
Figure
3
.
V
on
Mi
ses Stress a
naly
sis o
f
m
odel
3
AF
P
A for
var
i
ou
s
inter
na
l pr
es
sures
(a)
300 kPa
, (b
) 3
50 kPa,
(c)
400 k
Pa, (
d)
450 kPa
, a
nd
(e)
500 k
Pa
The
m
echan
ic
al
desi
gn
of
the
palm
of
r
obotic
ha
nd
is
done
us
in
g
3D
pri
nti
ng
a
nd
it
s
pro
pe
rtie
s
are
as
sh
ow
n
in
the
Table
3.
The
de
sign
was
re
de
sign
e
d
3
tim
es
in
PTC
cre
o
to
bri
ng
fle
xib
il
it
y
to
the
desig
n
a
n
d
looks
m
or
e
li
ke
a
hum
an
hand.
On
ce
the
C
AD
file
s
we
re
create
d
as
s
ho
wn
i
n
F
i
gure
5
for
e
ver
y
pa
rt,
tho
se
wer
e
c
onv
e
rte
d
to
a
STL
file
s
an
d
im
po
rted
in
the
M
ojo
3D
P
rinter
’s
fil
e
processi
ng
s
of
t
war
e
-
Pr
i
nt
W
iz
a
r
d
wh
ic
h
scal
e
d
t
he
par
ts
as
nec
essary
in
pro
pe
r
or
ie
ntati
on
s
.
Fo
r
set
ti
ng
up
the
pr
i
nter,
al
l
the
par
ts
we
re
giv
e
n
an
in
fill
of
30
%.
T
he
fi
ve
fi
ngers
we
re p
rint
e
d
with
2
sh
el
l and
with
out
an
y
su
pp
or
t or
r
a
ft.
T
he
po
rtion of
t
he
hand
t
hat is c
onnecte
d
to
the
wr
ist
a
nd the
fi
ve fin
ger
s
w
e
r
e printe
d wit
h
3
s
hells wit
ho
ut
an
y s
upport
or r
a
ft.
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2089
-
4856
I
nt
J
R
ob
&
A
uto
m
,
Vo
l.
9
, No
.
1
,
Ma
rch 2
020
:
6
–
1
6
10
Figure
4. Proto
ty
pe
of the
AF
PA
fin
ger.
On
ce
the
par
ts
wer
e
pri
nte
d
of
ABS
m
at
erial
us
in
g
the
F
use
d
Deposit
io
n
Mod
e
li
ng
(FD
M)
proce
ss,
the
par
ts
with
the
sup
port
we
r
e
pu
t
in
Wav
e
Was
h
55
w
hic
h
is
an
aut
om
a
ti
c
su
pport
rem
ov
al
syst
em
.
On
ce
it
was
plugg
e
d
i
n,
an
Eco
Wor
ks
ta
blet
was
dro
pp
e
d
i
n
the
re
a
long
with
the
par
ts
with
t
he
su
pp
or
t.
A
fter
that
it
was
fill
ed
with
ta
p
wa
te
r
an
d
the
m
achine
was
tu
rn
e
d
on.
It
to
ok
co
nsi
der
a
ble
am
ou
nt
of
ti
m
e
to
re
m
ove
the
sup
ports
an
d
once
t
he
s
upports
wer
e
gone
,
the
so
l
utio
n
w
as
poured
down
the
dr
ai
n
a
nd
the
pa
rts
we
re
r
insed
off.
On
ce
al
l
the
par
ts
wer
e
pr
inted,
sa
ndpa
pe
r
was
us
e
d
to
file
the
ed
ges
of
the
par
ts
to
m
ake
th
os
e
sm
oo
the
r.
The
n
the
pa
rts
wer
e
assem
bled
to
gethe
r
us
in
g
var
i
ou
s
ty
pe
s
of
j
oi
nts
a
nd
fastene
rs
that
i
nclu
des,
nuts,
bo
lt
s,
washers,
a
nd gl
ue.
T
he 3
D pr
i
nted pa
rt of
pal
m
an
d
f
or
ea
rm
are s
how
n
in
F
igure
6.
Table
3.
T
able
def
i
ning the
pr
op
e
rtie
s of t
he m
at
erial
u
sed
Mater
i
al
-
Ac
r
y
lo
n
itrile
Bu
tad
ien
e St
y
r
en
e (
ABS
)
Den
isty
1
0
4
0
k
g
/
m
3
Sy
m
m
et
r
y
Iso
trop
ic
Stress
-
St
rain Res
p
o
n
se
Linear
Yo
u
n
g
’s M
o
d
u
lu
s
2
3
9
0
M
Pa
Po
iss
o
n
’s Ratio
0
.39
9
Co
ef
f
icien
t o
f
T
h
er
m
al
E
x
p
en
sio
n
9
.54
/C
Sp
ecif
ic Hea
t Cap
acity
1
7
2
0
J/Kg
-
K
Ther
m
a
l Co
n
d
u
ctiv
ity
0
.25
8
W
/(
m
K
)
Figure
5
.
CA
D
m
od
el
Figure
6
.
3D
pri
nt
palm
an
d
f
or
ea
rm
3.
WORKI
NG
P
RINCIPLE
O
F THE S
YS
T
EM
The
F
ig
ur
e
7
s
hows
the
prot
ot
ype
of
the
sys
tem
and
F
ig
ur
e
8
sho
ws
it
s
w
orkin
g
pr
i
ncipl
e.
T
he
IMU
MPU
-
6050
is use
d
to
c
ontr
ol
the
tw
o
de
gr
e
es
of
f
ree
do
m
(D
O
F)
of
the
r
obotic
a
rm
.
On
e
de
gr
ee
of
f
ree
do
m
is
the
r
otati
on
al
ba
se,
an
d
the
othe
r
is
the
pitch.
Fu
rt
her,
10
DOF
soft
r
obotic
fi
ng
e
rs
a
re
co
ntr
olled
via
t
he
be
nd
i
ng
of
the
flex
se
nsor
,
th
us
we
ha
ve
12
D
OF
s
of
t
ro
boti
c
ha
nd.
The
data
f
r
om
MPU
-
6050
is
read
in
t
he
A
r
du
i
no
Uno
us
i
ng
I
2C
prot
oco
l
an
d
the
a
nalo
g
data
f
ro
m
the
flex
sens
or
is
read
us
in
g
t
he
a
nalo
g
port.
Bot
h
t
he
data
are
pr
ocesse
d
a
nd
t
ransm
i
tt
ed
via
enca
psula
ti
on
of
data
i
n
a
pack
et
.
The
dat
a
from
the
tran
sm
it
te
r
(G
lov
e
s)
will
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
R
ob
&
A
uto
m
IS
S
N:
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89
-
4856
Desig
n a
nd d
e
vel
opmen
t
of s
oft ro
boti
c hand fo
r
…
(
Aswat
h Su
r
esh
)
11
be
se
nt
to
t
he
r
ecei
ver
us
in
g
XBee
pr
o
60
m
W
wh
ic
h
is
ha
ving
a
range
of
one
m
il
e
[12]
.
The
receive
r
in
te
rp
rets
the
receive
d
s
ens
or
data
an
d
con
tr
ols
the
a
ct
uator
s
of
the
robo
ti
c
arm
via
m
app
ing
t
he
gl
ove
m
ov
em
ent.
The
10
DOF
be
ll
ow
fin
ger
s
a
re
m
ade
us
i
ng
nitrit
e
r
ubber
m
at
erial
and
it
'
s
ext
rem
ely
so
f
t
an
d
flexible
s
uch
that
it
feels
li
ke
a
r
eal
hum
an
ha
nd.
All
the
bello
ws
are
c
onnect
ed
t
o
10
one
c
ha
nn
el
s
olen
oid valve
th
rou
gh w
hic
h
the
ai
r
pr
es
sur
e
is
re
gu
la
te
d.
Mi
n
i
5
bar
co
m
pr
essor
is
use
d
to
sup
ply
5
bar
t
otal
ai
r
ca
pacit
y
to
the
s
olen
oi
d
valve.
T
he
so
le
no
i
d
valve
rate
d at
12V
ca
n
be
co
ntr
olled
usi
ng
a
relay
syst
e
m
and
s
upply
require
d ai
r
pressure
to
the
bello
w
f
or
re
qu
ir
ed
be
ndin
g
of
t
he
fin
ge
r.
T
w
o
heav
y
du
ty
se
rvos
a
re
at
ta
ched
t
o
the
soft
r
obotic
ar
m
fo
r
extra
2
D
OF
m
ov
e
m
ent.
O
ne
f
or
t
he
36
0
de
gr
ee
base
an
d
the
oth
e
r
f
or
t
he
pitch
(up
a
nd
dow
n)
m
ove
m
ent.
Also
,
we
can
us
e
a
gear
360
an
d
get
the
360
degree
vi
de
o
fee
db
ac
k
of
the
a
rm
being
placed
withi
n
2
-
m
il
e
rang
e.
This
m
akes
the
ha
nd
to
be
co
ntr
olled
ver
y
pr
eci
sel
y
as
if
it
'
s
ou
r
r
eal
hand.
So
t
hi
s
so
lves
t
he
is
su
e
of
high c
on
ce
ntra
ti
on
of m
ic
ro
be
s whil
e h
a
rv
e
sti
ng
plants
w
hi
ch
are
grow
n
i
ns
ide
a s
pace
ve
rtic
al
f
arm
[13]
.
Figure
7. Proto
ty
pe
of
Hand S
yst
e
m
Figure
8.
Wo
r
ki
ng
p
rinciple
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IS
S
N
:
2089
-
4856
I
nt
J
R
ob
&
A
uto
m
,
Vo
l.
9
, No
.
1
,
Ma
rch 2
020
:
6
–
1
6
12
4.
EL
ECTRICA
L SYS
TE
M A
ND CONT
ROL
OF
THE
R
OBOT
IC
AR
M
The
el
ect
rical
s
yst
e
m
m
ajo
rly
co
nsi
sts o
f
tw
o co
ntr
ol unit
s:
−
Ma
ste
r
Co
ntr
ol Unit
−
Slave C
on
tr
o
l
Un
it
4.
1.
Mas
ter
co
nt
r
ol
unit
:
Ma
ste
r c
ontr
ol
un
it
is
the
tra
nsm
itter
par
t
of
the
syst
em
as
sh
ow
n i
n
F
ig
ur
e
9
wh
ic
h i
s
res
pons
i
ble
f
or
con
t
ro
ll
in
g
the
sla
ve
c
on
tr
ol
unit
. T
he
Ma
ste
r
contr
ol unit
consist
s of t
he fol
lowing c
om
ponen
ts:
−
Mi
cro
co
ntr
oller
Ardu
i
no:
A
r
duin
o
is
us
e
d
as
the
m
ic
ro
c
ont
ro
ll
er
in
t
he
m
ast
er
c
on
tr
ol
unit
beca
us
e
of
it
s
high
pr
ocessin
g
s
peed.
T
wo
Ard
uinos
are
connecte
d
to
gethe
r
to
est
a
blish
a
c
ommun
ic
at
io
n
betw
ee
n
the
m
ast
er
cont
ro
l
un
it
a
nd
t
he
sla
ve
c
ontr
ol
unit
.
Ard
ui
no
is
respo
ns
i
ble
f
or
e
ver
y
sing
le
proces
sing
op
e
r
at
io
n
in
th
e
syst
e
m
.
Ar
du
ino
is
co
nnect
e
d
to
Xb
ee
Pro
f
or
est
a
blishin
g
a
netw
ork
bet
w
een
the
us
er
a
nd
the ro
bo
ti
c
ha
nd.
−
Xb
ee
P
ro
:
X
be
e
Pro
is
us
e
d
t
o
est
a
blish
a
fa
st
an
d
reli
a
ble
netw
ork
betwe
en
the
m
ast
er
and
sla
ve
co
ntr
ol
un
it
.
Xb
ee
w
orks
on
Zi
gBee
prot
oc
ol
w
hich
enab
le
s
it
to
e
sta
blish
an
uni
nterru
pted
net
work
f
or
s
hort
er
distances.
The
com
bin
at
ion
of
Xb
ee
c
omm
u
nicat
ion
a
nd
W
i
Fi
com
m
un
ic
at
ion
pre
ven
ts
the
syst
e
m
fr
om
netw
ork fai
lure
.
Ba
ud Rat
e of
Xb
ee:
1152
00
Ba
ud Fr
e
quenc
y:
2
.4 G
Hz
−
Sensors:
Flex
sens
or
:
Fi
ve
fl
ex
se
nsors
a
re
us
e
d
in
t
he
ha
nd
f
or
re
plica
ti
ng
the
gest
ure
an
d
m
otion
of
the
fi
ng
e
rs.
E
ve
ry
fin
ge
r
has
on
e
fle
x
se
nsor
co
nn
ect
e
d
with
the
m
ic
ro
pro
cesso
r
a
nd
the
data
of
flex
sen
so
r
is use
d by the
m
ic
ro
process
or to
an
al
yse
a
nd
giv
e
res
ults.
IMU
6050:
It
is
us
e
d
t
o
def
i
ne
the
acce
le
rati
on
an
d
a
ngula
r
m
otion
of
the
rob
otic
ha
nd.
I
t
consi
sts
of
an
acce
le
ro
m
eter
w
hich
pro
vi
des
the
acce
le
r
at
ion
of
t
he
robo
ti
c
ha
nd
in
t
he
t
hr
ee
a
xes,
a
gy
ro
sc
ope
w
hich
is
respo
ns
ible
f
or
def
i
ning
the
an
gu
la
r
vel
ocity
of
the
ha
nd,
an
d
a
m
agn
et
om
e
te
r.
The
flo
wchart
of
Gestu
re
c
on
t
rol
is sh
own
i
n
Fi
g
ure
10.
Figure
9.
Tra
nsm
itters p
a
rt of
the syst
em
w
hich
is com
po
sed
of
I
MU
and
flex
sens
or
Figure
10. Fl
ow
c
har
t
of G
e
sture
Co
ntr
ol
IMU
Co
ntr
ol
f
or
se
ns
in
g
the
po
sit
io
n
of
t
he
palm
of
t
he
use
r:
Com
plem
e
ntary
filt
ers
a
r
e
use
d
in
this
case
as
s
how
n
in
Fi
gure
11.
Accele
r
om
et
er
val
ues
are
a
ugm
ented
with
th
e
gy
ro
sc
ope
va
lues
i
n
al
l
to
ge
t
t
he
filt
ered
val
ue
f
ro
m
the
IMU
(
In
e
rtia
l
Me
asu
rem
ent
Un
it
)
w
hic
h
are
tra
nsm
itted
to
the
re
cei
ver
en
d
w
he
re
it
is
processe
d
a
nd
util
iz
ed
to
rep
li
cat
e o
r
m
i
m
ic
t
he han
d
m
ov
e
m
ents.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
R
ob
&
A
uto
m
IS
S
N:
20
89
-
4856
Desig
n a
nd d
e
vel
opmen
t
of s
oft ro
boti
c hand fo
r
…
(
Aswat
h Su
r
esh
)
13
Wh
e
re
:
Z=
Sig
nal b
e
f
or
e
filt
erin
g
X
=
It is a
sig
na
l hav
i
ng lo
w f
reque
ncy noise
Y
=
It is a
sig
na
l hav
i
ng h
i
gh
fr
e
qu
e
ncy
no
is
e
Z`(
s
)
=
Sig
nal
after
filt
ering
G(
s
)
=
Lo
w Pa
ss Filt
er
1
-
G(
s
)
=
Com
ple
m
ent o
f Lo
w Pass Fil
te
r
i.e
. (Hi
gh Pass
Fil
te
red
value =
X1
*
al
pha +
X2*(1
-
al
pha
) X*(1
-
g(
s
)) +Y
*(g(
s
))
= X(s)+
Y(
s
)
= Z`
(s)
X
s
)
a
nd Y(s)
a
re c
om
ple
m
ent
s of eac
h othe
r a
nd |Z`
(s)
|=
1
Figure
11.
Bl
oc
k diag
ram
o
f c
om
ple
m
entary fil
te
r
4.2.
Sla
ve
c
ontrol
unit
:
Slave
co
ntr
ol
unit
is
the
m
os
t
i
m
po
rtant
par
t
of
t
he
w
hole
s
yst
e
m
as
in
F
igu
re
12
it
is
res
pons
i
ble
for
cond
ucting
the
j
ob
on
the
be
ha
lf
of
hu
m
an.
T
he
sla
ve
c
on
tr
ol
un
it
c
on
sist
s
of
a
r
obotic
a
r
m
wh
ic
h
is
cap
able
o
f
do
i
ng
e
ver
y
si
ngle
ta
sk
that
a
hum
an
ha
nd
can
pe
rfor
m
.
The
r
obotic
hand
c
onsist
s
of
the
f
ollow
in
g
com
ponen
ts:
−
Ser
vo
Me
c
han
i
sm
:
The
m
echa
nism
as
sh
own
in
F
ig
ur
e
13
is
i
m
ple
m
ented
to
the
base
of
t
he
syst
e
m
to
add
2
D
OF
.
T
he
m
echan
ism
help
in
the
ro
ta
ti
on
of
the
base
a
nd
up/d
own
m
oti
on
wh
ic
h
help
s
to
do
ta
sk
li
ke
pick
a
nd
place
with m
uch
eas
e.
−
Mi
cro
co
ntr
oller
(
Ard
uino):
I
n
the
sla
ve
c
on
t
ro
l
unit
,
A
rduin
o
is
us
e
d
as
the
c
ontrolli
ng
un
it
of
the
pro
stheti
c
a
rm
.
W
it
h
t
he
he
lp
X
bee
pro,
a
wireless
c
omm
un
ic
at
ion
is
e
sta
blished
bet
ween
the
sla
ve
and
the m
ast
er co
nt
ro
l
unit
to
c
on
t
ro
l t
he
r
obotic
hand fr
om
longer dista
nce
s.
−
Xbe
e
P
ro
:
It
is
us
e
d
t
o
est
abl
ish
a
fast
a
nd
reli
able
net
wor
k
betwee
n
the
m
ast
er
and
sla
ve
c
on
t
ro
l
unit
.
In
sla
ve
c
on
t
rol
unit
co
ordi
nator
m
od
e
of
Xbee
is
us
e
d
a
s
re
cei
ver
.
Xb
ee
w
orks
on
ZigBee
prot
oc
ol
wh
ic
h
enab
le
s
it
t
o
est
ablish
an
uninter
rupted
ne
twork
for
shorter
distances
.
T
he
c
om
bin
at
ion
of
X
bee
com
m
un
ic
at
ion
a
nd
W
iFi
c
om
m
un
ic
at
ion
preve
nts the
sys
tem
f
ro
m
n
et
w
ork fai
lure
.
−
360
Vi
deo
Ca
m
era:
Gear
360
as
s
how
n
i
n
F
igure
14
is
use
d
as
a
m
ediu
m
to
see
the
re
al
en
vironm
ent
of
the
w
orkp
la
ce
virtu
al
ly
.
This
t
echnolo
gy
hel
ps
in
m
i
m
ic
kin
g
the
w
orkin
g
en
vir
on
m
ent
in
w
hich
the
rob
otic
hand
is w
orkin
g.
It
al
so helps
in
im
pr
ovin
g
t
he
us
e
r
e
xperie
nce
a
nd
m
akes
the
c
on
tr
ol of th
e rob
otic
ha
nd
m
uch
m
or
e
co
m
fo
rtable
f
or
t
he
operat
or
.
It
is
ca
pa
ble
of
recordi
ng
360
degr
ee
vi
deo
s
and
hen
ce
give
s
real
-
ti
m
e
stream
ing
of
vid
e
o
of
the
w
orkin
g
env
ir
onm
ent.
This
hel
ps
the
op
e
rato
r
to
under
sta
nd
t
he
re
al
conditi
ons
of
t
he job a
nd m
ake th
em
capab
le
of
do
i
ng the ta
sk
with
ou
t
bei
ng physi
cal
ly
present
[
14
,
15]
.
Figure
12. Rec
ei
ver
par
t
of th
e syst
e
m
w
hic
h
is c
om
po
sed
of so
le
no
i
d valves,
co
m
pr
ess
or etc
Evaluation Warning : The document was created with Spire.PDF for Python.
IS
S
N
:
2089
-
4856
I
nt
J
R
ob
&
A
uto
m
,
Vo
l.
9
, No
.
1
,
Ma
rch 2
020
:
6
–
1
6
14
Figure
13. T
he
Serv
o 2 DOF
m
echan
ism
Figure
14. Sam
su
ng
Gea
r 360
5.
RESU
LT
A
N
D DIS
CUSSI
ON
The
proces
s
w
as
im
ple
m
ente
d
by
us
in
g
a
sa
m
su
ng
Gear
36
0
as
s
how
n
i
n
F
igure
15.
T
he
r
obotic
a
rm
is t
est
ed
with
hand ge
sture
contr
ol for t
he pi
ck
a
nd p
la
ce
of
a g
la
ss
, th
e
r
es
ults we
re s
at
isf
act
or
y.
Figure
15
.
Prototy
pe
te
st set
up
TESTE
D
BY
XBEE
C
ONN
ECTIV
IT
Y:
I
m
ple
m
ented
Z
igBee
com
m
un
ic
at
ion
us
in
g
two
Xb
e
e
Pro
and
get
a
ppr
opriat
e
re
su
lt
s
i
n
c
on
tr
olli
ng
t
he
r
obotic
ha
nd
us
in
g
the
tr
ansm
itter
glov
es
as
s
how
n
be
fore.
The
t
hr
ee
case
s in
dicat
ing
dif
fer
e
nt acti
ons
of the R
obot a
r
m
are
achieved
as s
how
n
in
Fi
gure
1
5
-
Fi
gure
1
6
.
CASE
(1) St
art
f
r
om
init
ia
l l
ocati
on
a
nd Gra
b
the
ob
j
ect
ie.
glass.
CASE
(2)
M
oving
t
o
ta
r
get
with g
la
ss
.
CASE
(3)
Re
a
chin
g
the
tar
ge
t wit
h glass.
−
CASE
1
:
The
arm
is
m
ov
ed
towa
r
d
the
ta
r
ge
t
red
glass
fro
m
i
ts
init
ia
l
locat
ion
as
s
how
n
in
F
ig
ur
e
15
to
the
ta
r
get
loca
ti
on
as
sho
wn
in
F
ig
ure
1
6
.
This
tr
a
j
ect
ory
of
the
ha
nd
is
perf
or
m
ed
by
the
m
app
in
g
of
the
IMU
with
t
he
real
hand
m
ov
em
ent
of
t
he
us
er
with
th
e
tr
ansm
itter
glov
es.
Als
o,
the
re
d
glass
is
gr
a
bb
ed
us
in
g
t
he
fle
x
s
ens
or
m
app
in
g o
f
the
f
in
ge
r o
f users
h
a
nd.
−
CASE
2
:
T
he
arm
fr
om
the
posit
ion
as
s
hown
in
Fi
gure
16
is
now
li
fted
an
d
it
s
on
it
s
way
to
wa
rd
s
goal
po
sit
io
n
as
s
hown
i
n
Fig
ur
e
17.
T
his
traject
ory
is
m
ai
ntained
with
the
IM
U
m
app
ing
of
t
he
us
e
r
ha
nd
w
it
h
transm
itter g
lo
ves.
−
CASE
3
:
The
a
rm
f
ro
m
the po
sit
ion
as
s
how
n
i
n
Fi
gure
17
is m
ov
ed
/na
rro
wed
dow
n
a
nd
reache
d
it
s
f
ina
l
go
al
posit
ion
a
s
sho
wn
in
Fig
ur
e
18.
This
tra
j
ect
ory
is
m
ai
ntained
with
th
e
IMU
m
app
ing
of
the
us
e
r
ha
nd
with tra
ns
m
it
ter
gloves.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
nt
J
R
ob
&
A
uto
m
IS
S
N:
20
89
-
4856
Desig
n a
nd d
e
vel
opmen
t
of s
oft ro
boti
c hand fo
r
…
(
Aswat
h Su
r
esh
)
15
Figure
16
.
Ha
nd
perform
ing
grab
acti
on
Figure
17. M
ovin
g
to
tar
get
Figure
1
8.
Re
a
chin
g
Ta
rg
et
6.
CONCL
US
S
I
ON A
ND
AP
LICATI
ON
The
ha
nd
syst
em
dev
el
op
e
d
s
olv
es
the
iss
ue
of
hi
gh
co
nce
ntrati
on
of
m
ic
robes
w
hile
ha
rvest
ing
plants
wh
ic
h
a
re gr
own
inside
a s
pa
ce ve
rtic
al
f
ar
m
. Th
e rob
otic sy
stem
also f
i
nd
s
it
s appli
cat
ion
i
n various
do
m
ai
ns
of
our
li
ves.
Fi
rst,
it
co
uld
be
us
e
d
li
ke
a
co
okin
g
rob
ot
as
i
n,
t
he
us
er
co
ul
d
easi
ly
sit
in
hi
s/her
room
and
c
ou
l
d
con
t
ro
l
the
r
obotic
arm
s
fixed
in
t
he
kitche
n.
T
his
helps
t
he
us
er
ea
sil
y
cook
foo
d
wit
hout
bein
g
pre
sent
in
the
kitche
n
ph
ysi
cal
ly
,
bu
t
he
/she
will
sti
ll
feel
li
ke
sta
ndi
ng
in
t
he
kitch
en.
Sec
ond,
t
he
r
obotic
syst
em
find
s
it
s
app
li
cat
ion
in
deali
ng
with
haza
r
dous
m
at
erial
s
(like
nucl
ear
waste
a
nd
ra
dio
act
ive
m
at
erial
s)
whic
h
is
us
ua
ll
y
done
usi
ng
hu
m
ans
by
wea
rin
g
ra
diati
on
resist
ant
su
it
s,
but
t
hey
are
ne
ver
100
per
ce
nt
secu
re.
But
by
this
m
ann
er
,
m
any
li
ves
co
uld
be
save
d
wh
ic
h
are
bein
g
sac
rificed
e
ver
y
ye
ar.
F
ur
t
her
,
t
he
syst
e
m
cou
ld
find
it
s
app
li
cat
io
n
i
n
i
ndus
trie
s
w
he
re
pr
eci
si
on
ta
sk
s
are
re
qu
i
re
d
w
hich
c
ould
be
done
usi
ng
r
obots
only
,
a
nd
al
so
wh
il
e
ha
ndli
ng
ver
y
hea
vy
thi
n
gs.
I
n
ad
diti
on,
the u
se
r
ex
pe
rience
is
cl
os
e
to
reali
ty
du
e
to
im
ple
m
entat
i
on
o
f
gear 3
60 tech
nolo
gy
[16
,
17]
.
ACKN
OWLE
DGE
MENT
The
a
uthors
would
li
ke
to
than
k
Ma
ke
r
sp
ace,
Ne
w
York
U
niv
e
rsi
ty
and
Me
ch
at
ronics
an
d
In
te
ll
igent
Sys
tem
Re
search
Lab,
Am
rita
Un
ive
rsity
f
or
th
e
sup
port
a
nd
resou
rces
t
o
ca
rr
y
out
our
res
earch
and ex
pe
rim
en
ts.
Evaluation Warning : The document was created with Spire.PDF for Python.