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Article: Design of Anthropomorphic Fingers With Biomimetic Actuation Mechanism

TitleDesign of Anthropomorphic Fingers With Biomimetic Actuation Mechanism
Authors
KeywordsRobots
Indexes
Actuators
Muscles
Grasping
Issue Date2019
PublisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE
Citation
IEEE Robotics and Automation Letters, 2019, v. 4 n. 4, p. 3465-3472 How to Cite?
AbstractA deep understanding of the movement mechanism of the human fingers is essential for achieving a human-like actuation mechanism for anthropomorphic robotic hands. After carefully analyzing a set of anatomical theories of human fingers, we propose a novel and more reasonable actuation mechanism of the human index finger within the sagittal plane. This actuation mechanism can accomplish independent movement of interphalangeal joints and metacarpal joint. We also consider hyperextension in this new actuation mechanism, which improves the completeness when interpreting the human actuation. We further exploit this actuation mechanism in our robotic finger design, which have accomplished all 33 static and stable grasping postures in the GRASP taxonomy. Videos are available at https://sites.google.com/view/szwd.
Persistent Identifierhttp://hdl.handle.net/10722/272913
ISSN

 

DC FieldValueLanguage
dc.contributor.authorZhang, Z-
dc.contributor.authorHan, T-
dc.contributor.authorPan, J-
dc.contributor.authorWang, Z-
dc.date.accessioned2019-08-06T09:18:56Z-
dc.date.available2019-08-06T09:18:56Z-
dc.date.issued2019-
dc.identifier.citationIEEE Robotics and Automation Letters, 2019, v. 4 n. 4, p. 3465-3472-
dc.identifier.issn2377-3766-
dc.identifier.urihttp://hdl.handle.net/10722/272913-
dc.description.abstractA deep understanding of the movement mechanism of the human fingers is essential for achieving a human-like actuation mechanism for anthropomorphic robotic hands. After carefully analyzing a set of anatomical theories of human fingers, we propose a novel and more reasonable actuation mechanism of the human index finger within the sagittal plane. This actuation mechanism can accomplish independent movement of interphalangeal joints and metacarpal joint. We also consider hyperextension in this new actuation mechanism, which improves the completeness when interpreting the human actuation. We further exploit this actuation mechanism in our robotic finger design, which have accomplished all 33 static and stable grasping postures in the GRASP taxonomy. Videos are available at https://sites.google.com/view/szwd.-
dc.languageeng-
dc.publisherInstitute of Electrical and Electronics Engineers. The Journal's web site is located at https://www.ieee.org/membership-catalog/productdetail/showProductDetailPage.html?product=PER481-ELE-
dc.relation.ispartofIEEE Robotics and Automation Letters-
dc.rightsIEEE Robotics and Automation Letters. Copyright © Institute of Electrical and Electronics Engineers.-
dc.rights©20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.-
dc.subjectRobots-
dc.subjectIndexes-
dc.subjectActuators-
dc.subjectMuscles-
dc.subjectGrasping-
dc.titleDesign of Anthropomorphic Fingers With Biomimetic Actuation Mechanism-
dc.typeArticle-
dc.identifier.emailPan, J: jpan@cs.hku.hk-
dc.identifier.emailWang, Z: zwangski@hku.hk-
dc.identifier.authorityPan, J=rp01984-
dc.identifier.authorityWang, Z=rp01915-
dc.description.naturelink_to_subscribed_fulltext-
dc.identifier.doi10.1109/LRA.2019.2926955-
dc.identifier.scopuseid_2-s2.0-85069862653-
dc.identifier.hkuros300337-
dc.identifier.volume4-
dc.identifier.issue4-
dc.identifier.spage3465-
dc.identifier.epage3472-
dc.publisher.placeUnited States-

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