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https://scholarbank.nus.edu.sg/handle/10635/242642
| Title: | MECHANISM AND ANALYSIS OF NOVEL HAND ROBOT | Authors: | YANG JIAXUAN | ORCID iD: |  orcid.org/0009-0003-2387-8473 |
Keywords: | Robotics, Modelling, Biomechanics, Multi-fingered hand, Deep reinforcement learning | Issue Date: | 20-Jan-2023 | Citation: | YANG JIAXUAN (2023-01-20). MECHANISM AND ANALYSIS OF NOVEL HAND ROBOT. ScholarBank@NUS Repository. | Abstract: | Human hand is the most flexible part of human body with over 20 DoFs. It is difficult for a robotic hand to achieve the human-like dexterity. This thesis presents research and development of a robotic hand for robot-assisted microsurgery, including a detailed survey of the current state-of-the-arts. Microsurgery requires both flexibility and stability of hand motions. We are achieving this via a mechanism based on flexible gooseneck hose tube (gooseneck). Gooseneck is flexible and can hold onto a device firmly after bending. Theoretical and experimental analyses of the mechanism have been conducted. Its application in robot-assisted microsurgery has also been investigated. | URI: | https://scholarbank.nus.edu.sg/handle/10635/242642 |
| Appears in Collections: | Master's Theses (Open) |
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| File | Description | Size | Format | Access Settings | Version | |
|---|---|---|---|---|---|---|
| YangJX.pdf | 4.31 MB | Adobe PDF | OPEN | None | View/Download |
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