Robot hands and the mechanics of manipulation
Robot hands and the mechanics of manipulation
Dexterity measures for the design and control of kinematically redundant manipulators
International Journal of Robotics Research
Proceedings of the 4th international symposium on Robotics Research
Robot grasp synthesis algorithms: a survey
International Journal of Robotics Research
Mechanical Hands Illustrated
Workshop on the Design and Control of Dextrous Hands
Workshop on the Design and Control of Dextrous Hands
Embodiment and Manipulation Learning Process for a Humanoid Hand
Embodiment and Manipulation Learning Process for a Humanoid Hand
A two DoF finger for a biomechatronic artificial hand
Technology and Health Care - Actuators for artificial limbs
Mechanical design of a shape memory alloy actuated prosthetic hand
Technology and Health Care - Actuators for artificial limbs
Regulation and control of LARM Hand III
Robotics and Computer-Integrated Manufacturing
Topology and analysis of three-phalanx COSA finger based on linkages for humanoid robot hands
ICIRA'10 Proceedings of the Third international conference on Intelligent robotics and applications - Volume Part I
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During the last two decades a large amount of effort and attention has been paid to the problem of designing and controlling dextrous robotics hands. The possible application background ranges from telerobotics to upper limb prosthetics, while actual industrial developments are mainly limited to specific grippers and tools. Classical problems related to dextrous hand design are kinematics of multifingered hands, development of proper actuation technologies and redundant tendinous systems for transmission. As far as hand control is concerned, grasp preshaping, planning and synthesis are of major concern, while sensor guided hand operation is still a matter of research. The present work reviews the above mentioned hand design and control issues trying to throw some light on the Babel-like confusion encountered when looking at present literature on dextrous hand design and specially control. Most actuation and transmission technologies, as well as control approaches, are studied and classified.