Dextrous hands: issues relating to a four-finger articulated hand

Al-Gallaf, E. A., Allen, A. J. and Warwick, K. (1993) Dextrous hands: issues relating to a four-finger articulated hand. Mechatronics, 3 (3). pp. 329-342. ISSN 0957-4158 doi: 10.1016/0957-4158(93)90007-O

Abstract/Summary

Manipulation of an object by a multi-fingered robot hand requires task planning which involves computation of joint space vectors and fingertip forces. To implement a task as fast as possible, computations have to be carried out in minimum time. The state of the art in manipulation by multi-fingered robot hand designs has shown the possible use of remotely driven finger joints. Such remotely driven hands require computation of tendon displacement for evaluating joint space vectors before signals are sent to actuators. Alternatively, a direct drive hand is a mechanical hand in which the shafts of articulated joints are directly coupled to the rotors of motors with high output torques. This article has been divided into two main sections. The first section presents a brief view of manipulation using a direct drive approach. Meanwhile, the other section presents ongoing research which is being carried out to design a four-finger articulated hand in the Department of Cybernetics at the University of Reading.