Bio-Inspired Design Biograsping: biomechanisms of hands Faculty of Mechanical, Maritime, and Materials Engineering Department of BioMechanical Engineering Just Herder
May 27, 2015
Vermelding onderdeel organisatie
Bio-Inspired DesignBiograsping: biomechanisms of hands
Faculty of Mechanical, Maritime, and Materials EngineeringDepartment of BioMechanical Engineering
Just Herder
© 2008 Just L. Herder
March 10, 2010 2
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
© 2008 Just L. Herder
March 10, 2010 3
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
© 2008 Just L. Herder
March 10, 2010 4
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
© 2008 Just L. Herder
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Grasping in biology
Großer BrachvogelWestern CurlewNumenius arquataBontbekplevier
© 2008 Just L. Herder
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Grasping in biology
Großer BrachvogelWestern CurlewNumenius arquataBontbekplevier
© 2008 Just L. Herder
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Grasping in biology
Großer BrachvogelWestern CurlewNumenius arquataBontbekplevier
© 2008 Just L. Herder
March 10, 2010 8
Grasping in biology
Großer BrachvogelWestern CurlewNumenius arquataBontbekplevier
© 2008 Just L. Herder
March 10, 2010 9
Grasping in biology
Großer BrachvogelWestern CurlewNumenius arquataBontbekplevier
© 2008 Just L. Herder
March 10, 2010 10
Grasping in biology
Großer BrachvogelWestern CurlewNumenius arquataBontbekplevier
© 2008 Just L. Herder
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Grasping in biology
© 2008 Just L. Herder
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The human hand
Particularly… cast of Frederic Chopin’s left hand
© 2008 Just L. Herder
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Anatomy
Nabi Digital
© 2008 Just L. Herder
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Anatomy
Nabi Digital
MCP Joint
© 2008 Just L. Herder
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Ligaments and tendons
F.H. Netter, 1997
© 2008 Just L. Herder
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Bio-inspired joints
BandsRollers
Springs
www.aclsolutions.com J Verbeek, JL Herder
© 2008 Just L. 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!
© 2008 Just L. Herder
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Biomechanics of human hand
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
© 2008 Just L. Herder
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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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Biomechanics of human hand
J.N.A.L. Leijnse, 2005
2N N+1
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Biomechanics of human hand
J.N.A.L. Leijnse, 2005
© 2008 Just L. Herder
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Biomechanics of human hand
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
J.N.A.L. Leijnse, 2005
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Rock climbing
© 2008 Just L. Herder
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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)
© 2008 Just L. Herder
March 10, 2010 31De Bruijne, Oderwald, Herder, Leijnse (1999)
© 2008 Just L. Herder
March 10, 2010 32De Bruijne, Oderwald, Herder, Leijnse (1999)
© 2008 Just L. Herder
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Force transmission
De Bruijne, Oderwald, Herder, Leijnse (1999)
© 2008 Just L. Herder
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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
© 2008 Just L. Herder
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Application in hand prosthesis
Cyberhand.orgARTS, Pisa, Italy
© 2008 Just L. Herder
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Application in mechanical hands
Shape Gripper, Shigeo Hirose, TITECH
© 2008 Just L. Herder
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Application in mechanical hands
Jasper Schuurmans, TUD BMechE, 2004
© 2008 Just L. Herder
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Application in mechanical hands
Jasper Schuurmans, TUD BMechE, 2004
Two fingers
Three phalanges
[ L1 L2 L3 ]=[0.7 0.2 0.1]
dopt = 0.6
dopt = 0.6
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Application in mechanical hands
Jasper Schuurmans, TUD BMechE, 2004
• 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
© 2008 Just L. Herder
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Application in mechanical hands
Jasper Schuurmans, TUD BMechE, 2004
© 2008 Just L. Herder
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Application in mechanical hands
Jasper Schuurmans, TUD BMechE, 2004
© 2008 Just L. Herder
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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
© 2008 Just L. Herder
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Application in mechanical handsDLR Hand II
http://www.dlr.de/rm/Desktopdefault.aspx/tabid-397/
© 2008 Just L. Herder
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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
© 2008 Just L. Herder
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Application in mechanical handsFZK Schnelle Hand
http://fifserver.iai.fzk.de/fluidgruppe/
© 2008 Just L. Herder
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Compliant mechanism
SDM Hand, Aaron Dollar
© 2008 Just L. Herder
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Hand prosthesis
Motion Directed DesignPrecise motion much less relevant than distribution of forces and force transfer
© 2008 Just L. Herder
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Hand prosthesis
Force Directed DesignUniform distribution of forces regardless of size and shape of object
© 2008 Just L. Herder
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ResearchHand prosthesis
© 2008 Just L. Herder
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Hand prosthesis
Rolling linksRubber bandsDyneema strings
Herder and de Visser, 1998
© 2008 Just L. Herder
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Application in hand prosthesis
© 2008 Just L. Herder
March 10, 2010 55
First prototype
Herder and de Visser, 1998
© 2008 Just L. Herder
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Second prototype
47 grams
Herder, van de Burgt, 2001
© 2008 Just L. Herder
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Application in hand prosthesis
Just Herder, Hans de Visser, Jean Philippe Jobin
© 2008 Just L. Herder
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Underactuated Finger Optimization result
f1+f2t
θ2 θ1
Just Herder, Jean Philippe Jobin, 2004
© 2008 Just L. Herder
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Underactuated Finger Prototype finger
Van Dam, de Groot, van Rijn, Herder, 2005
© 2008 Just L. Herder
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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
Van Dam, de Groot, van Rijn, Herder, 2005
© 2008 Just L. Herder
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Underactuated Finger Movies
Van Dam, de Groot, van Rijn, Herder, 2005
© 2008 Just L. Herder
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Underactuated Finger Compliant version
Steutel, Kragten, Herder, 2005
Joint segments
Connection segments
Actuation segments
Fact
Contact segments
© 2008 Just L. Herder
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Underactuated Finger Compliant version
Steutel, Kragten, Herder, 2005
0θ F
FΘK
Compliant segment
PRB model
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Underactuated Finger Compliant version
Steutel, Kragten, Herder, 2005
Fact
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Underactuated Finger Compliant version
Steutel, Kragten, Herder, 2005
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Underactuated Finger Compliant version
Steutel, Kragten, Herder, 2005
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Underactuated Finger Compliant version
Steutel, Kragten, Herder, 2005
© 2008 Just L. Herder
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Underactuated Finger Compliant version
Steutel, Kragten, Herder, 2005
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