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Guideline for designing haptic master hands based on dynamic Multi-fingered Manipulability
Description
In this paper we apply the concept of dynamic manipulability measure to multi-fingered hands and propose Dynamic Multi-fingered Manipulability measure. The proposed measure considers the internal force and the dynamics of a grasped object as well as the finger dynamics. We then extend Dynamic Multi-fingered Manipulability to a guideline for designing haptic master hands or master-slave hands. Based on the proposed guideline, several joint configurations are evaluated and an optimal link length is determined.
Journal
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- 11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings.
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11th Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003. HAPTICS 2003. Proceedings. 77-84, 2003-12-08
IEEE Comput. Soc
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Details 詳細情報について
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- CRID
- 1360585447892313728
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- Data Source
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- Crossref
- OpenAIRE
