This paper for the ICRA 2000 Symposium on Dexterous Manipulation presents an overview of research in dexterous manipulation. We rst de ne robotic dexterous manipulation in comparison to traditional robotics and human manipulation. Next, kinematics, contact types and forces are used to formulate the dexterous manipulation problem. Dexterous motion planning is described, which includes grasp plan...

Dexterous robot hand development is a very challenging and interesting research topic. A dexterous robot hand may serve as a prosthesis hand for disabled patients or to serve as a gripping device for robotic arms. In most of previous studies, the dexterous robot hands are developed based on the directed gear train controls and tendon wired controls. The directed gear train control based design ...

in this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. this mechanism has two rotational and one translational degree of freedom. kinematics and jacobian analysis are investigated. moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in matlab software. because of decreasing moving elements, it i...

BACKGROUND The ability to dynamically control fingertip force vector magnitude and direction is critical for dexterous manipulation. We quantified the dynamic control of fingertip forces to examine how dexterous manipulation declines with age. METHODS The strength-dexterity (SD) test measures fingertip forces during compression of a slender spring prone to instability and buckling. The greate...

In order to overcome a large variety of run-time constraints, robots are being designed to be more resourceful by incorporating more sensory and motor options for any given task. The added flexibility provides a basis for dexterous problem solving, but challenges planners by increasing the complexity of search. Moreover, the cost of functionally equivalent options can vary dramatically. In the ...

Unlike pick-and-place manipulations, ne motions strategies generate movements based on sensor information to overcome mechanical and sensory uncertainties. Performing assembly operations with a dexterous hand make high demands on the controller of the robot gripper. Pre-grasping operations are highly dependent on a good position/velocity control. The control strategies for position and velocity...