A Principle of Mechanical Implementing the Kinematic Synergy for Designing Anthropomorphic Hand

Abstract

The kinematic synergy observed in angular velocity profile are employed by human hand in skilled grasping movement. Comparing to the static posture synergy, the reconstruction error of hand shape from kinematic synergy is obviously smaller when both using two most significant principle components. What’s more, the whole process of hand dynamic movement can be reconstructed just by several constant parameters as weight coefficient to linear combine the kinematic synergies. However, no work in literature mechanically implement the kinematic synergy for designing anthropomorphic hand. In this paper, real-world data of hand grasping process is collected using a data glove, and two most important kinematic synergies are extracted. A novel mechanical designing principle is proposed to synthesize the synergies by groups of cams. The mechanism design has the potentially attractive benefit to greatly reduce the complexity of motion control of anthropomorphic hand. The full grasping process of anthropomorphic hand can be implemented just by keeping input-shaft rotate one cycle at constant velocity.