Dynamic Multi-Fingered Manipulability for Articulated Hands and its Extension to a Design Index for Master-Slave Hands

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  • 動的多指可操作性の提案とマスタ・スレーブハンド設計指標への拡張
  • ドウテキ タシ カ ソウサセイ ノ テイアン ト マスタ スレーブハンド セッケイ シヒョウ エ ノ カクチョウ

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Abstract

In this paper, we extend the concept of dynamic manipulability measure to that for multi-fingered hands and propose a dynamic multi-fingered manipulability (DMM) measure. Unlike the conventional dynamic manipulability measure, the proposed measure considers internal forces and the dynamics of a grasped object. Specifying constant internal force components, we obtained a one-to-one relation from a joint torque to an object acceleration. The proposed measure is further extended to a measure for master-slave hands as a design index. Based on the new design indices, some two-fingered master-slave hand designs with different joint configurations are evaluated and an optimal link length is determined.

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