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Control for Multi-Finger Hands

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The Human Hand as an Inspiration for Robot Hand Development

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 95))

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Abstract

This chapter attempts to develop a complete set of dynamics of 2-dimensional grasping under rolling contact constraints and propose a control methodology for preserving stability of a grasp under arbitrarily given object and fingerend shapes. The computational model is derived by means of moving frame coordinates under the postulate that two contact points on each contour curve share a single common point and have the same tangent. A control signal for blind grasping is given by referring to the fingers-thumb opposability of human hands. It is shown theoretically and computationally that the control stabilizes motion of the fingers-object system toward its optimal composition. Together with a historical note on blind grasping, a mathematical modeling for numerically simulating 3D grasping is discussed.

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Authors and Affiliations

  1. Research Organizaion of Science and Technology, Ritsumeikan Univ, 525-8577, Kusatu, Shiga, Japan

    Suguru Arimoto & Morio Yoshida

Authors
  1. Suguru Arimoto
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  2. Morio Yoshida
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Corresponding author

Correspondence to Suguru Arimoto .

Editor information

Editors and Affiliations

  1. Oregon State University, Corvallis, Oregon, USA

    Ravi Balasubramanian

  2. Mechanical and Aerospace Engineering, Arizona State University, Tempe, Arizona, USA

    Veronica J. Santos

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Arimoto, S., Yoshida, M. (2014). Control for Multi-Finger Hands. In: Balasubramanian, R., Santos, V. (eds) The Human Hand as an Inspiration for Robot Hand Development. Springer Tracts in Advanced Robotics, vol 95. Springer, Cham. https://doi.org/10.1007/978-3-319-03017-3_15

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  • DOI: https://doi.org/10.1007/978-3-319-03017-3_15

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-03016-6

  • Online ISBN: 978-3-319-03017-3

  • eBook Packages: EngineeringEngineering (R0)

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