Grasp and Micromanipulation with Human Hand – a New Experimentation and Systematization

Abstract

This paper presents first the structural and functional characteristics of the human hand, a necessary stage even if these data exist in other papers too. Next, we experiment grasp of a rod-type object using one to five fingers, identifying nine possible situations, each case being exemplified by a corresponding picture. Below are the situations of grasping a small part with one and two fingers, in which case there are only two possible situations. Then there is the experimentation of grasping an object of any shape using from one to five fingers, in which case there are seven possible situations. We then experiment micromanipulation of a rod-type part. We also shows the adaptation of Cutkosky’s taxonomy through experiments for all the situations considered, plus the situation of grasping between two adjacent fingers and grasping with two opposing fingers of an object of relatively large size. Similarly, Lyons’ force grasp is being explored. The paper highlights the approach of specific aspects of grasping and micromanipulation for which suggestive tests are performed, and the unitary presentation of multiple cases of grasping using human hand for substantiation and extension of taxonomy, the best known until now, namely Cutkosky’s taxonomy. The paper is useful for improving the constructive and functional design of anthropomorphic grippers for robots.