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DC Field | Value | Language |
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dc.contributor.author | Dalli, Donald | - |
dc.contributor.author | Saliba, Michael A. | - |
dc.date.accessioned | 2021-04-07T08:05:29Z | - |
dc.date.available | 2021-04-07T08:05:29Z | - |
dc.date.issued | 2016 | - |
dc.identifier.citation | Dalli, D., & Saliba, M. A. (2016). The University of Malta minimal anthropomorphic robot (UM-MAR) hand II. IEEE International Conference on Advanced Intelligent Mechatronics, Banff. 371-376. | en_GB |
dc.identifier.uri | https://www.um.edu.mt/library/oar/handle/123456789/73119 | - |
dc.description.abstract | A minimal anthropomorphic robot hand is under development in the Faculty of Engineering at the University of Malta. The basic design is based on previous work in the faculty that has shown quantitatively that acceptable dexterity can potentially be achieved using a ten joint, eight degreeof- freedom hand that incorporates a thumb, two fingers, and effective touch sensing and hand control systems. The second test version of this hand, UM-MAR Hand II, has been built and is presented in this work. The approach taken in the development of this second prototype focusses on enhancing three fundamental and often conflicting attributes of compact multi-degree-of-freedom systems, identified as the simplicity, dexterity and usability of the device. In particular, extensive simulation work is carried out to optimize the fixed Denavit- Hartenberg parameters of the hand, as well as the joint ranges, in order to achieve human-like grasping dexterity with the reduced kinematic configuration. The design, development, construction and early evaluation of the UM-MAR Hand II are described in detail. | en_GB |
dc.language.iso | en | en_GB |
dc.publisher | Institute of Electrical and Electronics Engineers | en_GB |
dc.rights | info:eu-repo/semantics/restrictedAccess | en_GB |
dc.subject | Robotics | en_GB |
dc.subject | Robot hands | en_GB |
dc.subject | Haptic devices | en_GB |
dc.subject | Robots -- Control systems | en_GB |
dc.title | The University of Malta minimal anthropomorphic robot (UM-MAR) hand II | en_GB |
dc.type | conferenceObject | en_GB |
dc.rights.holder | The copyright of this work belongs to the author(s)/publisher. The rights of this work are as defined by the appropriate Copyright Legislation or as modified by any successive legislation. Users may access this work and can make use of the information contained in accordance with the Copyright Legislation provided that the author must be properly acknowledged. Further distribution or reproduction in any format is prohibited without the prior permission of the copyright holder. | en_GB |
dc.bibliographicCitation.conferencename | IEEE International Conference on Advanced Intelligent Mechatronics (AIM) | en_GB |
dc.bibliographicCitation.conferenceplace | Banff, Canada, 12-15/07/2016 | en_GB |
dc.description.reviewed | peer-reviewed | en_GB |
dc.identifier.doi | 10.1109/AIM.2016.7576795 | - |
Appears in Collections: | Scholarly Works - FacEngME |
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The_University_of_Malta_minimal_anthropomorphic_robot_UM-MAR_hand_II_2016.pdf Restricted Access | 632.36 kB | Adobe PDF | View/Open Request a copy |
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