In industry, robotic arms are used pick&place systems, in some cases, classic robot grippers may not be enough for grasping because of material structures and shapes. Also sometimes it's need to remote control for safety regulations. Those problems can be solved with anthropomorphic hand design. In this work, the humanoid arm, hand, and its fingers have been designed based on the human skeleton system and its grasping capability. In comparison to previous designed robot arm-hand systems, this study targets the ability to grasp various shaped objects. Arm is controlled using by EMG signal for multi-grasp performance. Multi-grasp hand is capable of performing the cylindrical, spherical, lateral, tripod, tip and hook grasps, which comprise 85% of the activities of daily living. Also with EMG control, it can be used for remote control applications such as hazardous waste or explosive disposal in industry. Due to the industrial purposes of this study, and depending on the requested actions, pneumatic muscle has been chosen as an actuator.
Biography
He received the bachelor's degree from Marmara University Electric Department, in 1996. He completed his M.Sc. and Ph.D. thesis at Computer-Control Department of
Marmara University, Institute for Graduate Studies in Pure and Applied Sciences, in 2000 and 2006, respectively. In September 2008, Dr. Kaplanoğlu became Assistant Professor at Marmara University, Mechatronics Department. He has been awarded YGGDRASIL Award (Young Guest Doctoral Researchers in Norway) in 2010. He worked as research assistant professor at Department of Mechanical Eng. Vanderbilt University Faculty of Engineering Nashville/TN,USA from 2011 to 2012. He has worked in “Vanderbilt Multigrasp Hand Prosthesis” project (Supported by DARPA and NSF) as a researcher. His research areas are Biomechatronics systems, Lower limb Prosthesis, modeling, identification and control. Multivariable, Model Predictive Control, Data Acquisition Systems(DAQ)