BIOROBOTICS LABORATORY
SEOUL NATIONAL UNIVERSITY
Bio-inspired Robotic Hand
The human hand is such a complex and sophisticated tool compared to any other mechanical structure. In this research bioinspired aspects of the joints and tendon-driven mechanisms are studied to expand the coverage and improving the functionality of the prosthetic and the robotic hands.
Also, integrating tactile sensors into robotic applications is still a challenge because of sensor interconnection and various form factors. This study proposes an integrated design of a multi-joint robotic finger with magnetic synapse sensors inspired by the human’s joint structure and synapse system. The robotic fingers integrated with a high-sensitivity sensor array can grasp objects with various shapes and compliance (i.e., artificial flowers, paper cups, and wine glasses) without damaging the objects using tactile feedback.
Keywords : #Prosthetic hand, #Sports
Related papers and patents
S.-H. Kim, S. Oh, K. B. Kim, Y. Jung, H. Lim, and K.-J. Cho, "Design of a Bioinspired Robotic Hand: Magnetic Synapse Sensor Integration for a Robust Remote Tactile Sensing," in IEEE Robotics and Automation Letters, vol. 3, No. 4, 2018. [PDF]
S.-H. Kim, S.-S. Yun, and K.-J. Cho, "Artificial Ligament-Joint Design for a Bioinspired Hand," Engineering in Medicine and Biology Society (EMBC), 2017.
Sang-Hun Kim, and Kyu-Jin Cho, "Substitution Strategy of the Rolling Contact Joints Kinematics for the Robotic Applications", 2016 16th International Conference on Control, Automation and Systems (ICCAS 2016) Oct. 16-19, 2016 in HICO, Gyeongju, Korea. Best Presentation Award.
Sang-Hun Kim, Hyunki In, Jeong-Ryul Song, and Kyu-Jin Cho, "Force Characteristics of Rolling Contact Joint for Compact Structure," in IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2016, pp. 1207-1212.
· E-mail : pine6710 at snu.ac.kr
· Research Topic : Bionic arm, Soft wearable robots
Ph.D. Candidate