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Design and Implementation of a High DOF Robot Hand

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Thesis embargoed until 1st July 2027(106.84 MB)

Date

2025

Authors

Tantiya, Rohit

Supervisor

Li, Xuejun
Yan, Wei

Item type

Thesis

Degree name

Master of Engineering

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Publisher

Auckland University of Technology

Abstract

As humanity advances toward a future where human-robot collaboration becomes essential, the development of sophisticated anthropomorphic limbs represents a critical step in enhancing human productivity and revolutionizing how we interact with automated systems. A research investigation was conducted to analyze and understand the biomechanical principles underlying human arm movements through robotic implementation. The study examined a twenty-two-degree-of-freedom system, wherein the relationships between mechanical principles, electronic responses, and computational approaches were systematically investigated. Biomechanical analyses of human limb dynamics were performed to inform joint configuration studies, while sensor-actuator interactions were researched to understand optimal placement for movement precision. The investigation explored hierarchical control methodologies, with particular attention given to the theoretical frameworks governing multi-joint coordination. Research into reinforcement learning mechanisms was undertaken to understand adaptive behavioral patterns, and systematic studies of environmental interaction parameters were conducted. Experimental investigations encompassed both fine manipulation and motion control domains, providing insights into complex movement patterns. The research methodology incorporated extensive testing protocols, focusing on precision metrics and response characteristics across varied operational conditions. Statistical analyses of movement accuracy and response times were conducted to validate the theoretical frameworks proposed in the study. The findings contributed significantly to the theoretical understanding of biomimetic systems, particularly in the context of human-robot interaction frameworks. The research revealed critical insights into the relationship between joint complexity and movement precision, establishing new paradigms for anthropomorphic design. Furthermore, the study identified key parameters affecting the successful replication of human-like movements, including the crucial role of sensor placement and feedback mechanisms. This research established methodological approaches for studying anthropomorphic movements, advancing the fundamental knowledge required for future investigations in this field. The study's implications extend to both theoretical biomechanics and practical applications in assistive technologies, providing a robust foundation for future research in human-robot interaction systems. The comprehensive nature of this investigation offers valuable insights for researchers working on advanced robotic systems and biomechanical engineering applications.

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http://hdl.handle.net/10292/19423

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