Parallel Mechanisms in Multi-fingered Robot Hands.

Grasping and Control of Multi-Fingered Hands

An important issue in controlling a multi-fingered robotic hand grasping an object is the evaluation of the minimal contact forces able to guarantee the stability of the grasp and its feasibility. This problem can be solved online if suitable sensing information is available. In detail, using finger tactile information and contact force measurements, an efficient algorithm is developed to compu...

Adaptive Manipulation of Constrained Objects by Soft-Fingered Robot Hands

The purpose of this paper is to report on our on-going project for developing multi-fingered robotic hand with soft and thin skin which is capable of performing various skillful grasping and manipulation tasks. Our hand is basically controlled by a position-based control algorithm. However, it can realize desired grasping force due to the soft skin while maintaining stability of the system. For...

Virtual Robot Teaching for Humanoid Both-Hands Robots Using Multi-Fingered Haptic Interface

Regrasping Control by Multi-fingered Robot Hand

In this paper, a smooth regrasping control method of multi-fingered robot hand is proposed. First, four-fingered robot hand with 13 joints was built. Second, manipulation and grasping algorithm of four-fingered robot hand is easily calculated by applying the algorithm made for three-fingered robot hand to the two pairs of three-fingered robot hand. In order to reduce the vibration generated whi...

Fundamentals and Analysis of Compliance Characteristics for Multi-Fingered Hands

In this paper, we provide a guideline for specifying compliance characteristics in the operational space of multingered hands. Through the analysis of the sti ness relation between the operational space and the ngertip space of multingered hands, it is shown that some of coupling sti ness elements cannot be planned arbitrary. And an independent nger-based compliance control method to achieve th...