Manipulator for people with limited abilities

TL;DR

This paper presents the design and development of a four-degree-of-freedom robotic hand with an integrated control and vision system, aimed at assisting people with disabilities to improve their manipulation capabilities.

Contribution

It introduces a comprehensive approach combining mechanical design, control system development, and ROS-based software integration for assistive robotic manipulation.

Findings

Successful development of a robotic hand prototype

Integration of control and vision systems demonstrated effective manipulation

Potential to enhance quality of life for users with disabilities

Abstract

The topic of this final qualification work was chosen due to the importance of developing robotic systems designed to assist people with disabilities. Advances in robotics and automation technologies have opened up new prospects for creating devices that can significantly improve the quality of life for these people. In this context, designing a robotic hand with a control system adapted to the needs of people with disabilities is a major scientific and practical challenge. This work addresses the problem of developing and manufacturing a four-degree-of-freedom robotic hand suitable for practical manipulation. Addressing this issue requires a comprehensive approach, encompassing the design of the hand's mechanical structure, the development of its control system, and its integration with a technical vision system and software based on the Robot Operating System (ROS).