The Design and Development of a Teleoperated Anthropomorphic Hand

Elamin, Mosaab Adil (2023) The Design and Development of a Teleoperated Anthropomorphic Hand. Final Year Project (Bachelor), Tunku Abdul Rahman University College.

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Abstract

The aim of this project is to design, develop and test an animatronic hand and wrist capable of mimicking human hand movements through a teleoperation system where the operator hand is the master manipulator and the animatronic hand is the slave manipulator. This is done by incorporating mechanical designs and underactuation methods based on the musculoskeletal system of the human hand to produce a 16 DoF robotic hand. The operator wears a sensory glove and wrist exoskeleton that tracks the joint movement of the user hand and wrist and translate that motion to the actuators within the animatronic hand. Evaluation of the teleoperation system and the animatronic hand is done through experimental tasks to check the hand gripping capabilities as well as the range and accuracy of motion. Such a method of remotely controlled anthropomorphic hand is not widely used and therefore this research aims to evaluate the preformance of such system while providing informative sensory and motion data for future works