Bio Inspired Design - Lecture 7. Bio grasping

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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

March 10, 2010 5

Grasping in biology

Großer BrachvogelWestern CurlewNumenius arquataBontbekplevier

© 2008 Just L. Herder

March 10, 2010 6

Grasping in biology

Großer BrachvogelWestern CurlewNumenius arquataBontbekplevier

© 2008 Just L. Herder

March 10, 2010 7

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

© 2008 Just L. 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

© 2008 Just L. Herder

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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

March 10, 2010 20

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

March 10, 2010 21

BiomechanicsJuncturae tendini

• Connections between tendons• Challenge wrt independence

of fingers• Source of problems in

musicians hands

Figure: Carl Toldt

© 2008 Just L. Herder

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BiomechanicsMuscle coactivation

J.N.A.L. Leijnse, 1997

© 2008 Just L. Herder

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Biomechanics of human hand

J.N.A.L. Leijnse, 2005

2N N+1

© 2008 Just L. Herder

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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

© 2008 Just L. Herder

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Rock climbing

© 2008 Just L. Herder

March 10, 2010 27

Rock climbing

Vigouroux, 2005

FED=40FFS=150

FFP=260

FED=30FFS=210

FFP=190

© 2008 Just L. Herder

March 10, 2010 28

Rock climbing

Vigouroux, 2005

FED=40FFS=150

FFP=260

FED=30FFS=210

FFP=190

© 2008 Just L. Herder

March 10, 2010 29

Finger models

Top: Landsmeer 1, 2, and 3 models

Bottom: Bowstring1 and 2 models

© 2008 Just L. Herder

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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

© 2008 Just L. Herder

March 10, 2010 35

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

March 10, 2010 36

Application in hand prosthesis

Cyberhand.orgARTS, Pisa, Italy

© 2008 Just L. Herder

March 10, 2010 37

Application in mechanical hands

Shape Gripper, Shigeo Hirose, TITECH

© 2008 Just L. Herder

March 10, 2010 38

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

© 2008 Just L. Herder

March 10, 2010 40

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

March 10, 2010 41

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

© 2008 Just L. Herder

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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

© 2008 Just L. Herder

March 10, 2010 47

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

March 10, 2010 49

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

March 10, 2010 57

Application in hand prosthesis

Just Herder, Hans de Visser, Jean Philippe Jobin

© 2008 Just L. Herder

March 10, 2010 58

Underactuated Finger Optimization result

f1+f2t

θ2 θ1

Just Herder, Jean Philippe Jobin, 2004

© 2008 Just L. Herder

March 10, 2010 59

Underactuated Finger Prototype finger

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

© 2008 Just L. Herder

March 10, 2010 60

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

March 10, 2010 61

Underactuated Finger Movies

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

© 2008 Just L. Herder

March 10, 2010 62

Underactuated Finger Compliant version

Steutel, Kragten, Herder, 2005

Joint segments

Connection segments

Actuation segments

Fact

Contact segments

© 2008 Just L. Herder

March 10, 2010 63

Underactuated Finger Compliant version

Steutel, Kragten, Herder, 2005

0θ F

FΘK

Compliant segment

PRB model

© 2008 Just L. Herder

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Underactuated Finger Compliant version

Steutel, Kragten, Herder, 2005

Fact

© 2008 Just L. Herder

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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

© 2008 Just L. Herder

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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

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