Abhay Kshirsagar

Use of Stretch Sensor for Anthropomorphic Robot Hand: Robots, the Future of Next Generations Abhay Kshirsagar

The contents of this book is product of my research. This project was critically aimed for study of Stretch Sensor which can be used for finger movement detection in Anthropomorphic robot hand. Over the past decades, there have been many activities in the design, analysis, and control of artificial / robot multifingered hands to emulate the functions of the human hand. Hand movement has abundant powers of expression with complex finger joint motions. This can help to interact with robot arm or dexterous hand. Some glove-based devices have been employed to capture full degree-of-freedom (DOF) human hand motion. Unfortunately, such devices are expensive and cumbersome. Hence goal of many researches has been to design a glove-based sensor system that could easily be mounted onto the human hand to capture hand movements. Therefore, the dissertation is focusing on sensing joint movements of fingers and wrist of a human hand and contributes to easy sensing technique. The main contribution of this dissertation is advancement of robot hand dexterity through use of joint movement sensing of anthropomorphic robot hand along with existing theories of movement sensing.