Pneumatic Modelling for Adroit Manipulation Platform
ADROIT Manipulation platform is a pneumatically actuated, tendon driven 28 degree of freedom platform being developed for investigating complex hand manipulation behaviors. ADROIT derives its unique capabilities, necessary to support dynamic and dexterous manipulation, from a custom designed high-pe...
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| creator | Kumar, Vikash CV, Visak |
| description | ADROIT Manipulation platform is a pneumatically actuated, tendon driven 28
degree of freedom platform being developed for investigating complex hand
manipulation behaviors. ADROIT derives its unique capabilities, necessary to
support dynamic and dexterous manipulation, from a custom designed
high-performance pneumatic actuation system for tendon-driven hands. The custom
pneumatic actuation system is fast, strong, low friction-stiction, compliant
and is capable of actuating a shadow hand skeleton faster that human
capabilities -- at a unique combination of speed, force, and compliance that
has never been achieved before. In this paper, we develop models for the
pneumatic muscles of ADROIT and perform a thorough investigation of the various
parameters that affect pressure dynamics in a pneumatic system such as,
different cylinder types, leakage from valves and cylinders, valve deadzone,
input pressure fluctuations etc to improve the model's accuracy. |
| doi_str_mv | 10.48550/arxiv.1703.01653 |
| format | Article |
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degree of freedom platform being developed for investigating complex hand
manipulation behaviors. ADROIT derives its unique capabilities, necessary to
support dynamic and dexterous manipulation, from a custom designed
high-performance pneumatic actuation system for tendon-driven hands. The custom
pneumatic actuation system is fast, strong, low friction-stiction, compliant
and is capable of actuating a shadow hand skeleton faster that human
capabilities -- at a unique combination of speed, force, and compliance that
has never been achieved before. In this paper, we develop models for the
pneumatic muscles of ADROIT and perform a thorough investigation of the various
parameters that affect pressure dynamics in a pneumatic system such as,
different cylinder types, leakage from valves and cylinders, valve deadzone,
input pressure fluctuations etc to improve the model's accuracy.</description><identifier>DOI: 10.48550/arxiv.1703.01653</identifier><language>eng</language><subject>Computer Science - Robotics</subject><creationdate>2017-03</creationdate><rights>http://arxiv.org/licenses/nonexclusive-distrib/1.0</rights><oa>free_for_read</oa><woscitedreferencessubscribed>false</woscitedreferencessubscribed></display><links><openurl>$$Topenurl_article</openurl><openurlfulltext>$$Topenurlfull_article</openurlfulltext><thumbnail>$$Tsyndetics_thumb_exl</thumbnail><link.rule.ids>228,230,780,885</link.rule.ids><linktorsrc>$$Uhttps://arxiv.org/abs/1703.01653$$EView_record_in_Cornell_University$$FView_record_in_$$GCornell_University$$Hfree_for_read</linktorsrc><backlink>$$Uhttps://doi.org/10.48550/arXiv.1703.01653$$DView paper in arXiv$$Hfree_for_read</backlink></links><search><creatorcontrib>Kumar, Vikash</creatorcontrib><creatorcontrib>CV, Visak</creatorcontrib><title>Pneumatic Modelling for Adroit Manipulation Platform</title><description>ADROIT Manipulation platform is a pneumatically actuated, tendon driven 28
degree of freedom platform being developed for investigating complex hand
manipulation behaviors. ADROIT derives its unique capabilities, necessary to
support dynamic and dexterous manipulation, from a custom designed
high-performance pneumatic actuation system for tendon-driven hands. The custom
pneumatic actuation system is fast, strong, low friction-stiction, compliant
and is capable of actuating a shadow hand skeleton faster that human
capabilities -- at a unique combination of speed, force, and compliance that
has never been achieved before. In this paper, we develop models for the
pneumatic muscles of ADROIT and perform a thorough investigation of the various
parameters that affect pressure dynamics in a pneumatic system such as,
different cylinder types, leakage from valves and cylinders, valve deadzone,
input pressure fluctuations etc to improve the model's accuracy.</description><subject>Computer Science - Robotics</subject><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2017</creationdate><recordtype>article</recordtype><sourceid>GOX</sourceid><recordid>eNotjjkOwjAUBd1QIOAAVPgCCTa2Y6dEiE0CQUEf_XzbyFIWZBbB7QlLNcU8PQ0hY85SaZRiU4jP8Ei5ZiJlPFOiT-SxcfcabgHpvrWuqkJzpr6NdG5jG250D0243Ktu0Db02LFz9ZD0PFRXN_pzQE6r5WmxSXaH9XYx3yWQaZEgOpVZBiIT3vsSnfEzo0sEb5gG69xHmRxzVWo0DiTnYGc5SoYgmQExIJPf7Te7uMRQQ3wVn_zimy_e6x5A7Q</recordid><startdate>20170305</startdate><enddate>20170305</enddate><creator>Kumar, Vikash</creator><creator>CV, Visak</creator><scope>AKY</scope><scope>GOX</scope></search><sort><creationdate>20170305</creationdate><title>Pneumatic Modelling for Adroit Manipulation Platform</title><author>Kumar, Vikash ; CV, Visak</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-a673-cce56d0a363fffbce8f287bcaf807adee0a3689c95b7c8ea411ad29c40ca408a3</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2017</creationdate><topic>Computer Science - Robotics</topic><toplevel>online_resources</toplevel><creatorcontrib>Kumar, Vikash</creatorcontrib><creatorcontrib>CV, Visak</creatorcontrib><collection>arXiv Computer Science</collection><collection>arXiv.org</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Kumar, Vikash</au><au>CV, Visak</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Pneumatic Modelling for Adroit Manipulation Platform</atitle><date>2017-03-05</date><risdate>2017</risdate><abstract>ADROIT Manipulation platform is a pneumatically actuated, tendon driven 28
degree of freedom platform being developed for investigating complex hand
manipulation behaviors. ADROIT derives its unique capabilities, necessary to
support dynamic and dexterous manipulation, from a custom designed
high-performance pneumatic actuation system for tendon-driven hands. The custom
pneumatic actuation system is fast, strong, low friction-stiction, compliant
and is capable of actuating a shadow hand skeleton faster that human
capabilities -- at a unique combination of speed, force, and compliance that
has never been achieved before. In this paper, we develop models for the
pneumatic muscles of ADROIT and perform a thorough investigation of the various
parameters that affect pressure dynamics in a pneumatic system such as,
different cylinder types, leakage from valves and cylinders, valve deadzone,
input pressure fluctuations etc to improve the model's accuracy.</abstract><doi>10.48550/arxiv.1703.01653</doi><oa>free_for_read</oa></addata></record> |
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| subjects | Computer Science - Robotics |
| title | Pneumatic Modelling for Adroit Manipulation Platform |
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