Optimal design and grasp ability evaluation of four-finger tendon-driven hand

Jinbao Chen,Dong Han,Wenyu Yan,Hong Nie

doi:10.1177/1729881417748444

Abstract

Since human hands have complex anatomical structure and are hard to be duplicated, lots of researches have been done to simplify it by gesture analysis, functional workspace evaluation and many oth...

Highlights

The human hand is often regarded as the most dexterous end effector in existence because it could afford great grasp power with very light structure and realize a wide range of manipulations at the same time
In order to retain limited dexterity on the foundation of reliable grasp, manipulating modes and motion patterns were abstracted by studying the daily grasp posture and the anatomical structure of human hands.[14,15]
Principal components analysis (PCA) and Cutkosky taxonomy, were proposed,[16,17] which are currently widely used in posture planning, mechanical structure designing and other fields of robot research

Summary

Introduction

The human hand is often regarded as the most dexterous end effector in existence because it could afford great grasp power with very light structure and realize a wide range of manipulations at the same time. Lots of researches have tried to simplify the whole hand system by focusing on the grasp ability and reducing the dexterous manipulation ability.[8,9,10] Besides, soft joints are used to increase the grasp universality and stability This kind of mechanical hands have been widely used in the prosthetic area nowadays.[11,12,13] On the other hand, in order to retain limited dexterity on the foundation of reliable grasp, manipulating modes and motion patterns were abstracted by studying the daily grasp posture and the anatomical structure of human hands.[14,15] Two classic sorting methods, principal components analysis (PCA) and Cutkosky taxonomy, were proposed,[16,17] which are currently widely used in posture planning, mechanical structure designing and other fields of robot research.

Results

Discussion

Conclusion