Wrist Biomechanics for Bionic Hands - Biomimetic Mechatronic Hand Part 6
ฝัง
- เผยแพร่เมื่อ 19 ส.ค. 2020
- A sort of part two to the last biomechanics video, In this one I talk about the anatomy, kinematics and biomechanics of the wrist in real hands as well as different solutions employed by current bionic hand designs.
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"Armed with this information…" - i see what you did there :-)
Use the spherical antiparallelogram! These mechanisms are what make mechanical engineering fun. It's nice when everything isn't just revolute joints or ball screws :)
take a look at this: th-cam.com/video/RXhtcWz5GBg/w-d-xo.html its a 3d printed version of the eeh, "wrist joint", yes i am lazy...
@@TheMaidenOnes Thanks Anton, looks awesome!!
Well now i know what to use for my 3d model walker, since i needed a joint with those two axis of rotation that also looks like the components can be replaced on thr field of field mechanics shop, thx
Me: it’s only about 8 bone nuggets so it can probably be simplified down to 3 optimized ones
The hand: *has 42 degrees of motion between those joints*
my bones hurt, looking at this
I don't know if I said it before, but I'm really loving everything about this project.
Super impressive always love your videos. I taught myself fusion some years ago and I’m designing a lot of robotics stuff kinda like this. I was gonna post a link to show you the irim robot wrist, but you already got it lol. Keep on keeping on!
Every time I see your work my mind is blown. Just great stuff will. Love the work.
I really love this project, its fascinating to see the translation of biological media to mechanical media, and trying to emulate that as closely as possible is very interesting. Keep up the good work!
The DLR is aero-space, they don't align to the same philosophy as you, thus, IMO, you should ignore the superficial aspects of the design, and focus on the pure math of it. That wrist mechanism has all the major check boxes you need hit + cable routing, in an orderly and neatened fashion.
Would like to point out that in such a mechanism, as long as the hard points are assured, the actual linkages can look like anything you want as long as they don't intersect. And that's a good point over other methods that don't go the IRIM way, which itself is flawed for you, because that mechanism is outside actuated with cumbersome cabling.
TLDR. Focus on the DLR variant, it's a decent start, and besides with 3D printing, you can always swap/and design to be able to easily swap parts if you decide later down the road that the path is wrong.
Wow, this wrist mechanism blew my mind, i always thought the wrist was the most conflictive and complex problem to solve as it involved 3 axis of movement and cable management is just one of the many things that proves a challenge when designing the actual movement.
Some really insightful information for us regular ppl. You doing some great work. Keep it up. Thanks for the video.
Keep going bro , you are teaching us a lot of things...Thanks....
I genuinely love your channel always looking forward to it
I broke my scaphoid a few years back and will eventually one day lose the ability to use my thumb. Im currently trying to design a brace that will allow me to still function after that happens. I think the spherical anti-parallelogram mechanism you showed here with some modifications is what I needed to support the hand brace and any tool I’d be using.
Lucky to have your video as recommended. Instant sub.
Been waiting not so patiently for an update. Love this stuff 👍
Amazing ! Awesome video, great ingenuity !
As an orthopaedic surgeon Im finding your videos very interesting, im looking for hand spealization some day and would like use your hands somehow.
Great stuff !! Love about mechanism
This is super cool
Awesome. Great job. Congratz!
Regards
Awesome work
but most importantly... it looks COOL
Love this project! I definitely agree that you should only emulate the form and range of motion rather than the exact mechanisms of the human hand.
The two crossed axes of your old hand look fine to me, but may be even better to use a universal joint, with a central cross piece that both hand and forearm rotate themselves around. Then you could put a hole through the center of the cross for wires to pass through.
The spherical whatsit mechanism does look like an interesting option as well though, since it provides a large enough opening for tendons, which would allow putting more of the motors near the elbow to minimize moment of inertia when its attached to an arm. But it looks rather delicate, so you may end up with large moment of inertia anyway (and expensive fabrication) by the time you beef it up. And how do you even attach actuators to it?
You are good bro keep going.
impressive job
Nature is the best designer.
Nature produced a design that is designing a facsimile of its own design and who knows, one day the facsimile may want to replicate its design and turtle all the way down.
Yeah, the more I learn about robotics, the more amazing biology becomes.
excellent
Will am a BIG fun Man I like ur work and i cant wait till this is done but I was suggesting that maybe on the wrist you use a special design of using electric magnets and springs or pulleys combined I think it will work
Good video
Awesome!
Probably the easiest design would be a slide saddle joint mounted to a wide hinge joint, added structure reinforcement could be added by a high tensile strength elastic exterior which basically replaces the wrist tendon sheath not accounting for the individual finger tendons. The finger cables could be threaded through cable loops and tubes on both the top and bottom of the wrist joint just under the elastic sheath similar to that of the human hand, in theory it should closely approximate the movement of the human hand.
I think I like what you're proposing.. But I'm going to need a picture or two. Going to go do some research, brb
Impressive work! Follow your gut feeling, but I really like the way that the spherical anti parallelogram moves. Looks terribke in their prototype but I think you can make it work :)
when you talk of driving hand rotation from the base of the arm and therefore are looking for a solid point of force to deliver rotational force, maybe a bit random but maybe valid resource, bong sao is a kung fu block in wing chun that works by locking out our structure, if the arm and elbow (at 45 degrees) is pointed forward with palm flat horizontally, by maintaining hand position and rotating shoulder outwards and away and elbow downward and in, now try and collapse the angle between upper and lower arm, it shows that some combinations of our structure lock us out and makes potential mobile yet fixed points of force application possible or demonstrates existence.
Will Cogley, keeper of the bone nugget secrets
Really neat mechanical model using off the shelf components. Aside from the rod ends, are those bearings or some sort of sleeve bushing allowing rotation at the elbow joints?
すげえ
Addictive content, it's a shame you can't release more often
Quality deserves time ;)
@@EG-cs3wv Precisely. It takes a lot of time to make a good video, and this is probably done in their spare time.
What you’ve done so far for the hand is awesome and this wrist would be really cool if you could implement it. I’m just curious of how your going to control it, are you going to make a glove with potentiometers for inputs, or send each motor to set values, or are more focused on the mechanical design first.
He already made a glove with potentiometers, and it is awesome th-cam.com/video/8HQ-CtgXudY/w-d-xo.html
3:32 it would be interesting but i wouldn't want a synthetic hand to be prone to all the issues of the original, I'd want it to be better in every way possible.
Has anyone repurposed the small stepper motors in DVD optical drives for this sort of stuff I feel they could be usefully integrated into finger joints
That mechanism is a mouthfull and a half
Would it not work well to connect the hand to 3 points arranged in a triangle? You could have 1 joint towards the middle rear fixed statically to the arm (with a ball joint) and the other 2 towards the sides of the palm connected to some linear actuators such as ball screws. You would then have both kinds of motion from the combination of those 2 actuators and also have lots of space in the middle for cables etc. It would be sort of analogous to how a delta 3d printer works. Not sure if how I described this makes sense... I could make a sketch if you are interested.
Are there more efficient ways our wrist could work? Probably.
But that's Biology for ya.
Your Robot hands are getting impressive.
This is increasingly a well-armed engineer.
That DLR wrist joint design, with its spherical antiparallelogram roots, looks as if it would crumple when trying to lift heavy objects.
Но там не хватает ещё ход по бездействие. Как говорится, по умолчанию. Нейтраль. Это даёт возможность с экономить на одном канале. В дальнейшем использовать в увеличении скорости работ.
I have an idea. Try looking at the DELTA style 3d printers. Particularly, the FLSUN Q5. It uses 3 pairs of carbon fiber effector rods to move the print head. But instead of the head moving laterally and horizontally, you fix that head on a joint. Just like the one you've got on the wrist right now. I can imagine the algorithm for that would be a nightmare, but what if you use the gcode of a 3d printer to test it out. But this tech is way out of my league. I'm just a toy designer. haha
Sir make lectures on mechanism
sir where you learn the designing of bionic hand and 3d software for this please kindly replay me
How do you move your wrist so far? I only have about 120º of motion up and down
Hey mate, have you thought about using piezoelectric/ultrasonic motors/actuators? Theyre much more powerful and accurate than electric motors. Plus it can get really small with great performance.
Interesting, looks quite similar to the way real muscle fibers operate, with a repeated "grip, pull, release, return" cycle.
Hands are cool
If you want further information on the DLR hand, check this: sci-hub.tw/10.1007/978-3-319-03593-2_4
A universal joint like in the drive shaft of a very long truck would be a fairly simple solution.
Will, do you even go to your discord channel at all? There's a much simpler and sturdy 'wrist' joint design. I could post it, but I don't know if you even visit your discord.
I know people keep asking this and it's very rude but that software did you use on 0:06.
I know some 3d modelling software but non of those can simulate a mechanical component. Is this just a animated 3d object or was it simulated?
What software are you using because I just transferred from another software to fusion 360 and i'm having trouble designing mechanics.
does anyone feel capable of explaining rhis wrist joint to me? i don't get how it works, in my head it shouldnt be able to work. wouldn't the arm in the middle mean, that the middle points of both sides of the antiparallelogram would have to be a constant distance apart, which they can't be? i've looked at it for about an hour, and even modelled it in fusion 360, but it just doesn't work. am i missing anything?
There are things better off stay in flesh than in robotic faithful replication of suchs.
Once i was thinking about exactly this - but for animation of robot. And i was waving hand in exactly same manner - but in public bus. so people thought I'm crazy.
And now Teslabot has a very simple pitch/yaw mechanism.
what software are using?
крутой ведос
👋
Does bone wrist really move like that.....
I wonder how foot bone now
Will! Check out DARA robot. Fernando Gomez (creator) just updated his DARA robot wrist as of a few days ago. It is hitting all the degrees of freedom you are looking at doing also. He is super friendly and i'm sure you guys would have a good chat on the subject. Can put you guys in contact via discord if you want. :9
He MIGHT (haven't checked yet) have put the files up on thingiverse already if you were curious to check them out. :9
Make more detail vedios
Robotics wants to be free. (Information wants to be free, too.)
Have you checked out Ian Davis' channel? He's pursuing a similar project. Maybe a collab?
I see
watching the image of the wrist bones move made me incredibly uncomfortable for some reason, like watching someone chew rocks or something, but with your wrist.
For the next project try this artifical muscle system, its quite cheap and suprisly easy to build th-cam.com/video/gzdZGKHdfsc/w-d-xo.html. And after few upgrades its will work best for you project.
th-cam.com/video/H19p43NFqp4/w-d-xo.html There are simpler presentation how to make them.
DAMN JUST ELECTRIFY THE JOINTS WERE YOU WANT IT TO MOVE DONT MAKE HARD MOVE SMART
I just found your channel. You are amazing, i love your eye mechanism. Im not smart with animatronics but theres this video that uses artifical muscles that could be replaced with servos or linear actuators. th-cam.com/video/Z7QLQnHXPYw/w-d-xo.html I dont know how helpful this is but i hope it can help in a way.
Edit: nvm i took a second look at the video above and it doesnt seems to be able to be replaced with linear actuators
Wrist Use an analog system
First!
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