Development of robotic hands: The UB hand evolution

摘要

This video presents the evolution of the robotic hands, called UB Hands (University of Bologna Hands), developed at the Laboratory of Automation and Robotics of the University of Bologna during more than 25 years of research in this field. Starting from the UB Hand I, the first robot hand prototype developed in our labs, the different design solutions and philosophies that have been followed toward the innovative UB Hand IV, also called DEXMART Hand, recently developed within the DEXMART project are presented. Remarkable characteristics of the UB Hands are also the whole hand manipulation capabilities, the ability of reconstructing the contact forces over the whole hand surface as in the case of the UB Hand II, and the presence of force/tactile sensors as in the UB Hand IV. Moreover, the use of soft covers for the emulation of the human tissue characteristics has been studied, and the adoption of innovative design concepts based on compliant structures has been introduced in the UB Hand III and IV.