Univ logo
Visakha Nanayakkara Supervised by: Prof. Necip Sahinkaya,
Dr. Nikolaos Vitzilaios, Dr. Olga Duran, Dr. Demetrios Venetsanos
UKACC PhD Presentation Showcase
Univ logo UKACC PhD Presentation Showcase Slide 2
Robotic hands – Grasping and Manipulation
u Objects designed for the human hand u Thumb-palm Functionality
Univ logo UKACC PhD Presentation Showcase Slide 3
Methodology: Thumb-palm Kinematics
Univ logo
Human Grasp Data Acquisition
UKACC PhD Presentation Showcase Slide 4
Univ logo
Preliminary Results: Kinematic Manipulability (Syngrasp Matlab toolbox [1])
UKACC PhD Presentation Showcase Slide 5
[1] Malvezzi, Monica, et al. "Syngrasp: A matlab toolbox for underactuated and compliant hands. " Robotics & Automation Magazine, IEEE 22.4 (2015): 52-68.
Univ logo
Results: Relationships in Joint Pairs
UKACC PhD Presentation Showcase Slide 6
Univ logo
Conclusion and Future Direction
u Joint angle and torque pair relationships in grasping. u Provides tendon routing guidelines. u Reduced control complexity in robotic thumbs.
u A 3D printed robotic thumb prototype. u Experiments using household objects while refining its
size, weight, and cost.
UKACC PhD Presentation Showcase Slide 7