Archivio Istituzionale della RicercaWe present a novel open-source 3D-printable dexterous anthropomorphic robotic hand specifically designed to reproduce Sign Languages’ hand poses for deaf and deaf-blind users. We improved the InMoov hand, enhancing dexterity by adding abduction/adduction degrees of freedom of three fingers (thumb, index and middle fingers) and a three-degrees-of-freedom parallel spherical joint wrist. A systematic kinematic analysis is provided. The proposed robotic hand is validated in the framework of the PARLOMA project. PARLOMA aims at developing a telecommunication system for deaf-blind people, enabling remote transmission of signs from tactile Sign Languages. Both hardware and software are provided online to promote further improvements from the community.
A Low-cost Open Source 3D-Printable Dexterous Anthropomorphic Robotic Hand with a Parallel Spherical Joint Wrist for Sign Languages Reproduction / Bulgarelli, Andrea; Toscana, Giorgio; Russo, LUDOVICO ORLANDO; AIRO' FARULLA, Giuseppe; Indaco, Marco; Bona, Basilio. - In: INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS. - ISSN 1729-8806. - ELETTRONICO. - 13:3(2016), p. 1. [10.5772/64113]
A Low-cost Open Source 3D-Printable Dexterous Anthropomorphic Robotic Hand with a Parallel Spherical Joint Wrist for Sign Languages Reproduction
TOSCANA, GIORGIO;RUSSO, LUDOVICO ORLANDO;AIRO' FARULLA, GIUSEPPE;INDACO, MARCO;BONA, Basilio
2016
Abstract
We present a novel open-source 3D-printable dexterous anthropomorphic robotic hand specifically designed to reproduce Sign Languages’ hand poses for deaf and deaf-blind users. We improved the InMoov hand, enhancing dexterity by adding abduction/adduction degrees of freedom of three fingers (thumb, index and middle fingers) and a three-degrees-of-freedom parallel spherical joint wrist. A systematic kinematic analysis is provided. The proposed robotic hand is validated in the framework of the PARLOMA project. PARLOMA aims at developing a telecommunication system for deaf-blind people, enabling remote transmission of signs from tactile Sign Languages. Both hardware and software are provided online to promote further improvements from the community.
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https://hdl.handle.net/11583/2644640
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