Design and development of an anthropomorphic shoe-tying robot

In the last decades, there have been an increasing interest among the researchers to develop robots or robot parts that have close functionally and appearance as human. This paper presents the development of a pair of anthropomorphic robotic hand to perform shoe-tying task to assist the elderly and...

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Main Authors:	Ramli, Mohd Syamsul, Zainul Azlan, Norsinnira
Format:	Conference or Workshop Item
Language:	English
Published:	2014
Subjects:	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
Online Access:	http://irep.iium.edu.my/44221/ http://irep.iium.edu.my/44221/ http://irep.iium.edu.my/44221/1/44221.pdf

id	iium-44221
recordtype	eprints
spelling	iium-442212018-05-24T04:59:27Z http://irep.iium.edu.my/44221/ Design and development of an anthropomorphic shoe-tying robot Ramli, Mohd Syamsul Zainul Azlan, Norsinnira TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering In the last decades, there have been an increasing interest among the researchers to develop robots or robot parts that have close functionally and appearance as human. This paper presents the development of a pair of anthropomorphic robotic hand to perform shoe-tying task to assist the elderly and handicapped, and also for prosthetics and humanoid robot applications. The robotic hand has a close appearance as human hand, consisting of the shoulder, wrist and five fingers. The real human hand operation while tying shoes has been observed in designing the mechanism and operational step. The forward and inverse kinematics of the robotic hand has been analyzed and the inverse kinematics analysis is used to determine the corresponding angular displacement of the joints with respect to the desired position in Cartesian axis. A prototype equipped with Arduino Mega 2560, gyro meter, Force Sensitive Resister (FSR) and servomotors has been built. The success rate of the robot is 100% under manual mode and 60% under automatic mode. 2014-11-27 Conference or Workshop Item PeerReviewed application/pdf en http://irep.iium.edu.my/44221/1/44221.pdf Ramli, Mohd Syamsul and Zainul Azlan, Norsinnira (2014) Design and development of an anthropomorphic shoe-tying robot. In: 2014 10th France-Japan/ 8th Europe-Asia Congress on Mecatronics (MECATRONICS 2014) , 27th-29th Nov. 2014, Tokyo, Japan. http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=7018567&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D7018567
repository_type	Digital Repository
institution_category	Local University
institution	International Islamic University Malaysia
building	IIUM Repository
collection	Online Access
language	English
topic	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering
spellingShingle	TJ Mechanical engineering and machinery TK Electrical engineering. Electronics Nuclear engineering Ramli, Mohd Syamsul Zainul Azlan, Norsinnira Design and development of an anthropomorphic shoe-tying robot
description	In the last decades, there have been an increasing interest among the researchers to develop robots or robot parts that have close functionally and appearance as human. This paper presents the development of a pair of anthropomorphic robotic hand to perform shoe-tying task to assist the elderly and handicapped, and also for prosthetics and humanoid robot applications. The robotic hand has a close appearance as human hand, consisting of the shoulder, wrist and five fingers. The real human hand operation while tying shoes has been observed in designing the mechanism and operational step. The forward and inverse kinematics of the robotic hand has been analyzed and the inverse kinematics analysis is used to determine the corresponding angular displacement of the joints with respect to the desired position in Cartesian axis. A prototype equipped with Arduino Mega 2560, gyro meter, Force Sensitive Resister (FSR) and servomotors has been built. The success rate of the robot is 100% under manual mode and 60% under automatic mode.
format	Conference or Workshop Item
author	Ramli, Mohd Syamsul Zainul Azlan, Norsinnira
author_facet	Ramli, Mohd Syamsul Zainul Azlan, Norsinnira
author_sort	Ramli, Mohd Syamsul
title	Design and development of an anthropomorphic shoe-tying robot
title_short	Design and development of an anthropomorphic shoe-tying robot
title_full	Design and development of an anthropomorphic shoe-tying robot
title_fullStr	Design and development of an anthropomorphic shoe-tying robot
title_full_unstemmed	Design and development of an anthropomorphic shoe-tying robot
title_sort	design and development of an anthropomorphic shoe-tying robot
publishDate	2014
url	http://irep.iium.edu.my/44221/ http://irep.iium.edu.my/44221/ http://irep.iium.edu.my/44221/1/44221.pdf
first_indexed	2023-09-18T21:02:53Z
last_indexed	2023-09-18T21:02:53Z
_version_	1777410741161164800

Design and development of an anthropomorphic shoe-tying robot

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