A basic study on coordination control of artificial fingers. 2nd report. A method of the coordination force distribution at finger joints by static equilibrium conditions.

Abstract

This paper deals with the coordination force distribution at finger joints for an articulated hand, under the assumption that the articulated hand with multiple degrees of freedom and a multiple articulated joint structure grasps some objects. In this study, four algorithms for this force distribution problem in grasping some object are derived from the static equilibrium conditions. Furthermore, a method for changing contact and non-contact fingers in grasping is derived and some simulations are shown, where changing fingers implies that some non-contacting fingers begin to make contact with the object, while the other contacting fingers do not contact it, keeping the stable grasping conditions by hand as a whole. Finally, based on the proposed five control algorithms, a control flow of stable grasping methods for the force distribution at each joint is made for an overall control of the finger system by determining grasping forces to changing grasping fingers.