Computer Control of Multijointed Finger System for Precise Object-Handling

Okada, Tokuji

doi:10.1109/tsmc.1982.4308818

Cited by 178 publications

(61 citation statements)

References 10 publications

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“…For instance, the Okada hand [1] was one of the first examples of multifingered grippers developed for robotic applications. The human hand has attracted attention in robotics, as it is one of the most dexterous multifingered grippers available in nature, granting humans the ability to manipulate objects precisely.…”

Section: Introductionmentioning

confidence: 99%

The Role of the Thumb: Study of Finger Motion in Grasping and Reachability Space in Human and Robotic Hands

Cotugno

Althoefer

Nanayakkara

2017

IEEE Trans. Syst. Man Cybern, Syst.

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Abstract-It is well acknowledged that the opposing thumb granted humans advanced manipulation capabilities. However, such feature is not statistically quantified and its representation is not formally addressed in robotics yet. This paper studies whether the displacement of the opposing thumb in humans is a determining factor for shaping the grip. Using statistical analysis of the variability of motion capture data from the GRASP database, we found that the displacement of the thumb plays a leading role on the shaping of the grip, independently from the specific object being grasped. Furthermore, we map and compare the reachability spaces of the human thumb and two state-of-the-art robotic thumbs -the Shadow and the iCub hands. We conclude that the kinematics of robotic thumbs does not evenly span the reachability space of the human thumb, favouring precision grasping motions. Hence our findings contributes to the discussion of the optimal modelling of robotic hands.

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Section: Introductionmentioning

confidence: 99%

The Role of the Thumb: Study of Finger Motion in Grasping and Reachability Space in Human and Robotic Hands

Cotugno

Althoefer

Nanayakkara

2017

IEEE Trans. Syst. Man Cybern, Syst.

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“…These hands truly represent our dual point of view in terms of jumping back and forth from an anthropomorphic point of view (mimicking our own hands) to the point of view of intelligent end-effectors (for endowing our robots with greater dexterity). Some examples of research on multifingered hands can be found in the work of Skinner [106], Okada [84], and Hanafusa and Asada [39]. The Okada hand was a three-fingered cable-driven hand which accomplished tasks such as attaching a nut to a bolt.…”

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confidence: 99%

A Mathematical Introduction to Robotic Manipulation

Murray¹,

Sastry²,

Li³

2017

2,668

2,002

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“…The Stanford/JPL Hand [18] is composed by three fingers, and 9 DoF controlled. The Okada hand [19] has 11 DoF controlled. The DLR hand [20], [21] is composed by four fingers, and 13 DoF controlled.…”

Section: B Simplified Hand Models From 9 To 14 Degrees Of Freedommentioning

confidence: 99%

Simplified human hand models based on grasping analysis

Cobos

Ferré

Aracil

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-The purpose of this paper is to analyze in some depth the kinematic behaviour of the human hand, in order to obtain simplified human hand models with the minimum and optimal number of Degrees of Freedom (DoF), and thus achieving an efficient manipulation task. The statistical analysis is carried out using Principal Components Analysis (PCA). Power and precision grasps are obtained with the use of a Cyberglove and a human hand model with 24 DoF. Finally, these experiments are used to evaluate the best DoF for an appropriate manipulation.

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Computer Control of Multijointed Finger System for Precise Object-Handling

Cited by 178 publications

References 10 publications

The Role of the Thumb: Study of Finger Motion in Grasping and Reachability Space in Human and Robotic Hands

The Role of the Thumb: Study of Finger Motion in Grasping and Reachability Space in Human and Robotic Hands

A Mathematical Introduction to Robotic Manipulation

Simplified human hand models based on grasping analysis

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