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.

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.

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· E-mail : pine6710 at snu.ac.kr
· Research Topic : Bionic arm, Soft wearable robots

Ph.D. Candidate

Sang-Hun Kim