Finger Orientation for Robotic Hands

Chapter
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 10)

Abstract

Human hand has evolved to be a complex and adaptable dexterous tasks system. Due to its large number of degrees of freedom (DOFs), it can easily realize different orientations and it is able to reconfigure itself to different configurations very quickly, with the aim to grasp objects dexterously [1]. Furthermore, it can manipulate objects with arbitrary position and orientation.

Keywords

Torque Nylon Stopper 

References

  1. 1.
    Taylor GL, Schwartz RJ (1955) The anatomy and mechanics of the human hand. Artif Limbs 2:22–35Google Scholar
  2. 2.
    Cutkosky MR (1989) On grasp choice, grasp model, and the design of hands for manufacturing tasks. IEEE Trans Robot Autom 5(3):269–279MathSciNetCrossRefGoogle Scholar
  3. 3.
    Shimoga KB (1996) Robot grasp synthesis algorithms: a survey. Int J Robot Res 15(3):230–266CrossRefGoogle Scholar
  4. 4.
    Iberall T (1997) Human prehension and dexterous robot hands. Int J Robot Res 16(3):285–299CrossRefGoogle Scholar
  5. 5.
    Pons JL, Ceres R, Pfeiffer F (1999) Multi finger dexterous robotics hand and control: a review. Robotica 17:661–674CrossRefGoogle Scholar
  6. 6.
    Bicchi A (2000) Hands for dexterous manipulation and robust grasping: a difficult road to-wards simplicity. IEEE Trans Robot Autom 16(6):652–662CrossRefGoogle Scholar
  7. 7.
    Laschi C, Dario P, Carrozza MC et al (2000) Grasping and manipulation in humanoid robotics. In: First IEEE-RAS international conference on humanoid robots, CambridgeGoogle Scholar
  8. 8.
    Okada T (1986) Computer control of multijointed finger system for precise object handling. Int Trends Manuf Technol Robot Grippers, pp 391–417Google Scholar
  9. 9.
    Jacobsen SC, Wood JE, Knutti DF et al (1984) The UTAH/M.I.T. Dexterous hand: work in progress. Int J Robot Res 3(4):21–50Google Scholar
  10. 10.
    Salisbury KS, Vassura G (1983) Kinematics and force analysis of articulated mechanical hands. J Mech Transm Actuation Des 105:35–41Google Scholar
  11. 11.
    Caffaz A, Cannata G (1998) The design and development of the DIST-hand dextrous gripper. In: Proceedings of the IEEE international conference on robotics and automation, pp 2075–2080Google Scholar
  12. 12.
    Melchiorri C, Vassura G (1992) Mechanical and control features of the UB Hand Version II. In: IEEE-RSJ international conference on robots and systems IROS’92, Raleigh, pp 187–193Google Scholar
  13. 13.
    Butterfass J, Grebenstein M, Liu H, Hirzinger G (2001) DLR-hand II: next generation of dextrous robot hand. In Proceedings of the IEEE Conference on robotics and automation, Seoul, pp 109–114Google Scholar
  14. 14.
    Gosselin CM, Birglen L (2004) Kinetostatic analysis of underactuated fingers. IEEE Trans Robot Autom 20(2):211–221CrossRefGoogle Scholar
  15. 15.
    Ceccarelli M, Carbone G, Lanni C et al (2003) Experimental activity for designing a hand with One d.o.f. anthropomorphic fingers of human size. In: 12th international workshop on robotics in Alpe-Adria-Danube region RAAD’03, Cassino, 7–10 May 2003Google Scholar
  16. 16.
    Luo MZ, Carbone G, Ceccarelli M, Zhao XX (2010) Analysis and design for changing finger posture in a robotic hand. Mech Mach Theory 45:828–843. doi: 10.1016/j.mechmachtheory.2009.10.014 MATHCrossRefGoogle Scholar
  17. 17.
    Carbone G, Iannone S, Ceccarelli M (2010) Regulation and control of LARM Hand III. Robot Comput Integr Manuf 26(2):202–211CrossRefGoogle Scholar
  18. 18.
    Namiki A, Imai Y, Ishikawa M, Kaneko M (2003) Development of a high-speed Multi fingered hand system and its application to catching. Proc IEEE/RSJ Int Conf Intell Robot Syst 3(3):2666–2671Google Scholar
  19. 19.
    Cutkosky MR (1989) On grasp choice, grasp model and the design of hands for manufacturing tasks. IEEE Trans Robot Autom 5(3):269–279Google Scholar
  20. 20.
    Laliberte T, Gosselin CM (1998) Simulation and design of underactuated mechanical hands. Mech Mach Theory 33(1/2):39–57MATHCrossRefGoogle Scholar
  21. 21.
    Birglen L, Laliberte T, Gosselin CM (2008) Underactuated robotic hands, Springer tracts in advanced robotics, vol 40. Springer, Berlin, p 244Google Scholar
  22. 22.
    Rubinger B, Gregoris L, Gosselin C.M, Laliberte T (2001) Self-adapting robotic auxiliary hand (SARAH) for SPDM operations on the international space station. In: Proceedings of the sixth international symposium on artificial intelligence, robotics and automation in Space ISAIRAS. A New Space Odyssey, Montreal, 18–21 June 2001Google Scholar
  23. 23.
    Laliberté T, Birglen L, Gosselin MC (2002) Underactuation in robotic grasping hands. Mach Intell Robot Control 4(3):1–11Google Scholar
  24. 24.
    Luo MZ, Mei T, Wang XH, Yu Y (2004) Grasp characteristics of an underactuated robot hand. In: Proceedings of the 2004 IEEE international conference on robotics and automation, New Orleans, April 2004Google Scholar
  25. 25.
    Ceccarelli M, Carbone G, Ottaviano E, Rodriguez NEN (2004) An experimental validation of a three-fingered hand with one d.o.f. anthropomorphic fingers. In: International conference on intelligent manipulation and grasping IMG04, Genova, 1–2 July 2004Google Scholar
  26. 26.
    Ceccarelli M, Nava Rodriguez NE, Carbone G (2006) Optimal design of driving mechanism in a one-d.o.f. anthropomorphic finger. Mech Mach Theory 41:897–911MATHCrossRefGoogle Scholar
  27. 27.
    Nardelli A, Carbone G (2008) An experimental characterization of LARM hand IV. In: CD Proceedings of IFToMMFeIbIM international symposium on mechatronics and multibody systems MUSME08, San Juan, 2008, paper n.27Google Scholar
  28. 28.
    Ferrari C, Canny J (1992) Planning optimal grasps. In: Proceedings of the IEEE international conference on robotics and automation. Nice, France, pp 2290–2295CrossRefGoogle Scholar

Copyright information

© Springer-Verlag London 2013

Authors and Affiliations

  1. 1.Chinese Academy of ScienceHefei, AnhuiPeople Republic of China

Personalised recommendations