Grasp force optimization in the design of a humanoid dexterous hand fingertips | IEEE Conference Publication | IEEE Xplore

Grasp force optimization in the design of a humanoid dexterous hand fingertips


Abstract:

In order to optimize the structure of the full drive dexterous hand, a full drive multi-fingered dexterous hand is designed based on the grasp force optimization. We inve...Show More

Abstract:

In order to optimize the structure of the full drive dexterous hand, a full drive multi-fingered dexterous hand is designed based on the grasp force optimization. We investigate the relation between two sets of parameters, namely finger grasping posture and fingertip grasping force, and finger knuckle length and fingertip grasping force. The relationship between finger configuration and fingertip force output is studied to achieve optimum force output of the fingers. Experimental platform is built for dexterous hands. The grasp spatial range, grasp stability and dexterity of the dexterous hand are verified by controlling it to grasp objects in the ten most common grasping postures. The experimental results show that the dexterous hand in this paper has a good operational performance.
Date of Conference: 05-09 December 2022
Date Added to IEEE Xplore: 18 January 2023
ISBN Information:
Conference Location: Jinghong, China

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