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 the given compliance characteristics is presented. Through the analytical results, it is concluded that the operational sti ness matrix should be carefully speci ed by considering the grasp geometry of multingered hands for successful grasping and manipulation tasks and also threedimensional compliance control can be achieved by vengered hands like human.