A Low-Cost Open Source 3D-Printable Dexterous Anthropomorphic Robotic Hand with a Parallel Spherical Joint Wrist for Sign Languages Reproduction

International Journal of Advanced Robotic Systems

Ludovico Orlando Russo¹  Giorgio Toscana¹  Andrea Bulgarelli¹  Basilio Bona¹  Marco Indaco¹  Giuseppe Airò Farulla¹ 

关键词: 3D Printing;    Robotics;    Assistive Technology;    Sign Language Reproduction;   

DOI  :  10.5772/64113

学科分类：自动化工程

来源: InTech

【 摘 要 】

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.

【 授权许可】

Unknown