- OPEN SOURCE
- WELLNESS & HEALTHCARE
- KIDS & EDUCATION
- RECYCLING & UPCYCLING
- ENERGY & SUSTAINABILITY
- 3D PRINTING
- HOME AUTOMATION
- INTERNET OF THINGS
- YOUNG MAKERS (< 18)
- FASHION & WEARABLES
- ARTISANS & NEW CRAFT
- CULTURAL HERITAGE
- MUSIC & SOUND
- STEAM PUNK
- 3D SCANNING
- NEW MANUFACTURING
- FOOD & AGRICULTURE
University Of Bologna Hands
The UB-Hand (University of Bologna Hand, UBH), is an anthropomorphic robotic hand that mimics faithfully human prehensile and manipulation capability thanks to the high number of controlled degrees of freedom and similarity of the hand kinematics of an adult man.
The UBH has been designed as a flexible and versatile end-effector for industrial robots and it is able to handle a large set of tools and objects originally conceived
for human operators.
The UBH is provided with five fingers and a wrist. Each finger is composed of five links and four rotational joints, three of which are independently controllable. The wrist has two orthogonal rotational joints that can be controlled independently. In total the UBH has seventeen actuated DOFs. Synthetic tendons pulled by servomotors located in the forearm realize the actuation. Every finger needs five motors to control independently its DOFs, while the wrist needs four motors to actuate the two DOFs. In total the UBH is equipped with twenty-nine servomotors. The fingers are manufactured using 3D printing in ABS, which allows obtaining
appropriate mechanical performance, complex geometries and low production costs.
The UBH can be considered as a fully integrated system since the actuation, sensing and control system are embedded in the hand and in the forearm.
Umberto Scarcia, Gianluca Palli, Lorenzo Moriello, Claudio Melchiorri. LAR (LABORATORIO DI AUTOMAZIONE E ROBOTICA, UNIBO)
He received his Ph.D. in Automation and Operational Research at the University of Bologna in 2014, and currently he is a Junior researcher in the same institute. His research interests include the design and control of innovative anthropomorphic robotic hands, dual arm/hand manipulation task planning and the design of innovative actuators and sensors for underwater applications.
Gianluca Palli received the Laurea and the Ph.D. degree in automation engineering from the University of Bologna,Italy, in 2003 and 2007, respectively. He was a visiting student at the Robotic Institute of the Deutsches Zentrum fur Luft-und Raumfahrt (DLR), Munich, Germany, in 2006. Currently he is Assistant Professor at the University of Bologna. His research interests include design and control of robotic hands, modeling and control of robots with variable stiffness joints, design of compliant structures and actuation systems for robotics applications and development of real-time systems for automatic control applications.
Lorenzo Moriello received the Bachelor’s Degree in Electronic Engineering from the University of Modena and Reggio Emilia, Italy, in 2007 and the Master’s Degree in
Electronic Engineering from the University of Bologna, Italy, in 2011. He received his Ph.D. in Automatic Control and Operational Research at the University of
Bologna. His research interests include design and control of robotic hands, development of optoelectronic sensors and design of highly integrated electronic system.
Claudio Melchiorri received the Laurea degree in electrical engineering and the Ph.D. degree from the University of Bologna, Bologna, Italy, in 1985 and 1990, respectively. In 1998, he was an Adjunct Associate in engineering with the Department of Electrical Engineering, University of Florida, Gainesville. In 1990–1991 he was a Visiting Scientist with the Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge. Since 1985 he has been with the Department of Electrical, Electronic and Information Engineering, University of Bologna, where he is currently a Full Professor of robotics. His research interests include dexterous robotic manipulation, haptic interfaces, telemanipulation systems, advanced sensors, and nonlinear control. He is the author or coauthor of about 270 scientific papers presented at conferences or published in journals and of 13 books on digital control and robotics.