Framework Comparison Between a Multifingered Hand and a Parallel Manipulator

  • Júlia BorràsEmail author
  • Aaron M. Dollar
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 15)


In this paper we apply the kineto-static mathematical models commonly used for robotic hands and for parallel manipulators to an example of hand-plus-object (parallel manipulator) with three fingers (legs), each with two phalanges (links). The obtained analytical matrix expressions that define the velocity and static equations in both frameworks are shown to be equivalent. This equivalence clarifies the role of the grasp matrix versus the parallel manipulator Jacobian. Potential knowledge transfer between both fields is discussed in the last section.


Parallel mechanisms Multifingered robotic hands Screw theory. 



This work was supported in part by National Science Foundation grant IIS-0952856.


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  1. 1.Department of Mechanical Engineering and Materials ScienceYale UniversityNew HavenUSA

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