A Low-Cost Open Source 3D-Printable Dexterous Anthropomorphic Robotic Hand with a Parallel Spherical Joint Wrist for Sign Languages Reproduction. (14th June 2016)

• Record Type: Journal Article
• Authors: Bulgarelli, Andrea; Toscana, Giorgio; Russo, Ludovico Orlando; Farulla, Giuseppe Airò; Indaco, Marco; Bona, Basilio
• Is Part Of: International journal of advanced robotic systems. Volume 13:Number 3(2016)
• Publication Date: 2016-06-14
• Subjects: 3D Printing -- Robotics -- Assistive Technology -- Sign Language Reproduction; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/64113
• Languages: English
• ISSNs: 1729-8806

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.