Wrist movement detector for ROS based control of the robotic hand

Krawczyk, Marcin, Yang, Zhijun ORCID: https://orcid.org/0000-0003-2615-4297, Gandhi, Vaibhav ORCID: https://orcid.org/0000-0003-1121-7419, Karamanoglu, Mehmet ORCID: https://orcid.org/0000-0002-5049-2993, Franca, Felipe M.G., Priscila, Lima, Xiaochen, Wang and Geng, Tao ORCID: https://orcid.org/0000-0002-6863-243X (2018) Wrist movement detector for ROS based control of the robotic hand. Advances in Robotics and Automation, 7 (1) . ISSN 2168-9695 [Article] (Published online first) (doi:10.4172/2168-9695.1000182)

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Abstract

Robotic hands are used in a wide range of applications. They have many different shapes, constructions and capabilities. This work presents a new design of a robotic hand using tailor-made as well as widely available sensors and actuators. The information transferred between the sensor and actuators is processed using the Robot Operating System (ROS) topic mechanism. The robotic hand movement is remotely controlled by a movement detector mounted on the wrist of a human hand controller. Based on this simple hardware setup we demonstrate that the robotic hand can be remotely opened and closed thereby allowing to grasp objects flexibly.

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