HRI hand control

Hardware X journal paper: An Open-source Anthropomorphic Robot Hand System: HRI Hand

Overview

This is a ROS package developed for controling and visulalizing the HRI hand.
The packages have been tested under ROS Kinetic and Ubuntu 16.04.

The hardware CAD files are upload in the An Open-source Anthropomorphic Robot Hand System: HRI Hand
And the firmware files are upload in the HRI-hand-firmware

Our robot hand system was developed with a focus on the end-effector role of the collaborative robot manipulator.
HRI hand is a research platform that can be built at a lower price (approximately $500, using only 3D printing) than commercial end-effectors.
Moreover, it was designed as a two four-bar linkage for the under-actuated mechanism and provides pre-shaping motion similar to the human hand prior to touching an object.

The proposed robot hand imitated the human hand, the four fingers, excluding the thumb, consist of distal interphalangeal(DIP), proximal interphalangeal(PIP), metacarpophalangeal(MCP) joints.
The thumb part consists of interphalangeal(IP), metacarpophalangeal(MCP), Carpometacarpal(CMC) joint, and operates MCP and CMC joint with two motors.
The motor is controlled based on the control signal received by the Micro-Controller unit (MCU) via Bluetooth communication.

Author: Hyeonjun Park, koreaphj91@gmail.com

Affiliation: Human-Robot Interaction LAB, Kyung Hee Unviersity, South Korea

Installation

• Before do this, please backup important files.

Dependencies

This software is built on the Robotic Operating System (ROS).

One line install: https://cafe.naver.com/openrt/14575

for Desktop

wget https://raw.githubusercontent.com/ROBOTIS-GIT/robotis_tools/master/install_ros_kinetic.sh && chmod 755 ./install_ros_kinetic.sh && bash ./install_ros_kinetic.sh

How to start?

$ cd ~/catkin_ws/src && git clone https://github.com/MrLacuqer/HRI-Hand-ROS.git
$ cd ~/catkin_ws && catkin_make
$ rospack profile && rosstack profile

$ roslaunch hri_hand_control hri_hand_control.launch
$ rosrun hri_hand_control hri_joint_state_pub.py

Description

• Classification of the revolute joint and prismatic joint.

  

• The tf tree of the four finger

  

• The tf tree of the thumb part

Demo

• The HRI hand with ROS Rviz package, click image to the YouTube video.

  

• The grasp performance with UR3 manipulator, click image to the YouTube video.

  

• The pick & place test with UR3 manipulator, click image to the YouTube video.