Bio Inspired Design - Lecture 10. Bio-grasping

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Bio-Inspired DesignBiograsping: biomechanisms of hands

Faculty of Mechanical, Maritime, and Materials EngineeringDepartment of BioMechanical Engineering

Just Herder

Mariza

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www.imagedirekt.com

© 2008 Just L. Herder

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Overview

Biomechanisms in grasping• Grasping in biology• Biomechanics of the human hand• Application in mechanical hand prosthesis design

• Bio-inspired joints and ligament topologies• Underactuation and redundancy


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Grasping AdhesionSuction

Grip increases by:• > Friction coefficient• Changing Fn-direction• Using shape Grip

Suction without damage & leak

Flexible surfaceincreases friction

Release byunsticking or

unrolling

Play with size & shape contact area

& viscosity

Surface tensionfor light objects

Paul Breedveld


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Overview

• Focus of Paul’s lecture: grasper-object interaction and variety of principles to create these effects

• Focus of this lecture: biological solutions to mechanically control the grasp motion and force

…but first yet another example


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Grasping in biology

Großer BrachvogelWestern CurlewNumenius arquataBontbekplevier


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Grasping in biology



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Grasping in biology



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Grasping in biology



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Grasping in biology



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Grasping in biology



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Grasping in biology


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The human hand

Particularly… cast of Frederic Chopin’s left hand

Mariza

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http://www.usc.edu/dept/polish_music/news/nov04.html

Mariza

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Mariza

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Mariza

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Mariza

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http://www.onlinekunst.de/februarzwei/22_02_chopin_2bio.html


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Anatomy

Nabi Digital


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Anatomy

Nabi Digital

MCP Joint


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Ligaments and tendons

F.H. Netter, 1997


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Bio-inspired joints

BandsRollers

Springs

www.aclsolutions.com J Verbeek, JL Herder


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Bio-inspired joints

BandsRollers

Springs

F.H. Netter, 1997

J Verbeek, JL Herder


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Landsmeer Model

Landsmeer model, in J.N.A.L. Leijnse, 1992

ED = Extensor DigitorumIO = InterosseusFP = Flexor Profundus (deep flexor)FS = Flexor Superficialis


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Biomechanics of human hand

J.N.A.L. Leijnse et al., 1992

ED and IO must always be tautOne of FS and FP must be tautSlack in medial parts of ED and IO is equalMB must always be taut, laterals may be taut or slackExcursions ED and IO equal to their MB’sCoupling mechanism: active when LB taut, PIP and DIP coupled

MB

Multi-articular tendons!


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J.N.A.L. Leijnse et al., 1992

Assumed fixed MCP and DIP coupled

Movement powered by FS or FPProves to be feasible!Also solutions with FS or FP or IO fixed are possibleHowever, solution sets for fixed ED or IO are small


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BiomechanicsJuncturae tendini

• Connections between tendons• Challenge wrt independence

of fingers• Source of problems in

musicians hands

Figure: Carl Toldt


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BiomechanicsMuscle coactivation

J.N.A.L. Leijnse, 1997


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2N N+1


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Human finger5 DoF (3+1+1)5 muscles, however Lumbrical

and Interosseus dependentUncontrollable?1 tenodesis: CL at MCP1 split tendon: E splits into TM

and TD

Hence even (some) redundancy4 DoF and 5+ DoA



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Rock climbing

Mariza

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Mariza

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Mariza

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Mariza

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Greg Epperson


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Rock climbing

Vigouroux, 2005

FED=40FFS=150

FFP=260

FED=30FFS=210

FFP=190


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Rock climbing

Vigouroux, 2005

FED=40FFS=150

FFP=260

FED=30FFS=210

FFP=190


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Finger models

Top: Landsmeer 1, 2, and 3 models

Bottom: Bowstring1 and 2 models


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From kinematics to statics

Tendon actuators

Metacarpal Fixator

Force transducers

De Bruijne, Oderwald, Herder, Leijnse (1999)


March 10, 2010 31De Bruijne, Oderwald, Herder, Leijnse (1999)


March 10, 2010 32De Bruijne, Oderwald, Herder, Leijnse (1999)


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Force transmission

De Bruijne, Oderwald, Herder, Leijnse (1999)


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Moment arm determination

Moment arms for index finger ( □ = Extensor ; Δ = Flexor Superficialis; Ο = Flexor Profundus) at the MCP joint

An et al. (1983)De Bruijne et al. (1999)

Decrease of moment arm


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Moment arm determination

Moment arms for index finger ( □ = Extensor ; Δ = Flexor Superficialis; Ο = Flexor Profundus) at the MCP joint

An et al. (1983)De Bruijne et al. (1999)

Extensors: Landsmeer model

Flexors: Bowstring 1 model


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Application in hand prosthesis

Cyberhand.orgARTS, Pisa, Italy


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Application in mechanical hands

Shape Gripper, Shigeo Hirose, TITECH


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Jasper Schuurmans, TUD BMechE, 2004


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Two fingers

Three phalanges

[ L1 L2 L3 ]=[0.7 0.2 0.1]

dopt = 0.6

dopt = 0.6


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• Mechanism 1: according to Soft Gripper • Optimized for uniform force distribution in straight

configuration• Mechanism 2: Similar with modified pulleys

• Optimized for uniform force distribution throughout range of motion

• Mechanism 3: Additional bi-articular tendon (flexing PIP and DIP, extending MCP)• Optimized as previous mechanism


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Application in mechanical handsUnderactuated hands LAVAL

http://wwwrobot.gmc.ulaval.ca


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Application in mechanical handsUnderactuation LAVAL

http://wwwrobot.gmc.ulaval.ca/publications/brevets/pat6505870.pdf


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Application in mechanical handsDLR Hand II

http://www.dlr.de/rm/Desktopdefault.aspx/tabid-397/


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Application in mechanical hands100G Hand, Hiroshima University

http://www.hfl.hiroshima-u.ac.jp/%7Ekaneko/english/research_grasp.html

Direct grasp

Sliding based grasp

Regraping based grasp

Rotating motion


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Application in mechanical handsBarrett hand, commercially available

http://www.barretttechnology.com/robot/products/hand/handfram.htm


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Application in mechanical handsFZK Schnelle Hand

http://fifserver.iai.fzk.de/fluidgruppe/


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Compliant mechanism

SDM Hand, Aaron Dollar


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Hand prosthesis

Motion Directed DesignPrecise motion much less relevant than distribution of forces and force transfer


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Hand prosthesis

Force Directed DesignUniform distribution of forces regardless of size and shape of object


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ResearchHand prosthesis


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Hand prosthesis

Rolling linksRubber bandsDyneema strings

Herder and de Visser, 1998


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First prototype

Herder and de Visser, 1998


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Second prototype

47 grams

Herder, van de Burgt, 2001


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Just Herder, Hans de Visser, Jean Philippe Jobin


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Underactuated Finger Optimization result

f1+f2t

θ2 θ1

Just Herder, Jean Philippe Jobin, 2004


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Underactuated Finger Prototype finger

Van Dam, de Groot, van Rijn, Herder, 2005


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Underactuated Finger Measurement result

120

140

160

180

180

150

1200,000,020,040,060,080,100,120,140,160,180,20

hoek 2hoek 1

(F1+F2)/aandrjifkracht

0,180-0,200

0,160-0,180

0,140-0,160

0,120-0,140

f1+f2/t

φ1φ2



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Underactuated Finger Movies



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Underactuated Finger Compliant version

Steutel, Kragten, Herder, 2005

Joint segments

Connection segments

Actuation segments

Fact

Contact segments


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0θ F

FΘK

Compliant segment

PRB model


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Fact


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Round, D = 90 mm Round, D = 85 mm Round, D = 75 mm

Square, L = 75 mm Square, L = 65 mm Pinch, Square, L = 50 mm Pinch, Square, L = 28 mm

Date post:	27-May-2015
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Bio Inspired Design - Lecture 10. Bio-grasping

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