Novel design method for multi-configuration dexterous hand based on a gesture primitives analysis
Article publication date: 6 April 2021
Issue publication date: 3 August 2021
This paper aims to propose a novel method based on a gesture primitives analysis of human daily grasping tasks for designing dexterous hands with various grasping and in-hand manipulation abilities, which simplifies the complex and redundant humanoid five-finger hand system.
First, the authors developed the fingers and the joint configuration with a series of gesture primitives configurations and the modular virtual finger scheme, refined from the daily work gesture library by principal component analysis. Then, the authors optimized the joint degree-of-freedom configuration with the bionic design analysis of the anatomy, and the authors optimized the dexterity workspace. Furthermore, the adaptive fingertip and routing structure were designed based on the dexterous manipulation theory. Finally, the effectiveness of the design method was experimentally validated.
A novel lightweight three-finger and nine-degree-of-freedom dexterous hand with force/position perception was designed. The proposed routing structure was shown to have the capability of mapping the relationship between the joint space and actuator space. The adaptive fingertip with an embedded force sensor can effectively increase the robustness of the grasping operation. Moreover, the dexterous hand can grasp various objects in different configurations and perform in-hand manipulation dexterously.
The dexterous hand design developed in this study is less complex and performs better in dexterous manipulation than previous designs.
This work is financially supported by the Key Research and Development Program of Zhejiang Province (Grant No. 2021C04015), National Natural Science Foundation of China (Grant No. 51775499) and the Fundamental Research Funds for the Provincial Universities of Zhejiang (Grand No. RF-C2019004). The authors would like to thank Editage (www.editage.cn) for English language editing.
Tao, Z., Sheng, S., Chen, Z. and Bao, G. (2021), "Novel design method for multi-configuration dexterous hand based on a gesture primitives analysis", Industrial Robot, Vol. 48 No. 3, pp. 463-472. https://doi.org/10.1108/IR-09-2020-0211
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