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Anthropomorphism Indexes of the Kinematic Chain for Artificial hands

Journal of Bionic Engineering 2020年第3期17卷 501-511页

作者： Immaculada Llop-Harillo Antonio Pérez-González Javier Andrés-Esperanza Grupo de Biomecdnicay Ergonomia Departamento de Ingenieria Mecdnicay Construccidny Universitat Jaume I(UJI)Castelldn 12071Spain

Anthropomorphic hands have received increasing research interest in the fields of robotics and *** it is not yet clear how to evaluate their *** in the kinematic chain is essential to achieve both functionality and cosmesis.A few previous works have addressed the definition of anthropomorphism indexes,although they have some limitations in its *** this study,three different anthropomorphism indexes have been defined to compare the kinematic chain of artificial hands with that of the human *** indexes are based on the comparison of:(I)the parameters of the kinematic chain(dimensions,type of joints,orientations and ranges of motion),(2)the reachable workspace,and(3)common grasping *** artificial hands with different degrees of anthropomorphism have been compared using the three Anthropomorphism Indexes of the Kinematic Chain(AIKC).The results show a high correlation between the first and third AIKC for the hands *** second AIKC presents much lower values than the other two,although they are higher for hands that combine abduction/adduction and flexion/extension movements in the kinematic chain of each *** indexes can be useful during the initial stage of designing artificial hands or evaluating their anthropomorphism.

关键词： anthropomorphism grasping indexes kinematics multifingered hands

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Static Stability Analysis of a Single Planar Object Grasped by *** Hand

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Journal of Mechanics Engineering and Automation 2012年第10期2卷 606-627页

作者： Takayoshi Yamada Manabu Yamada Hidehiko Yamamoto Department of Human and Information Systems Faculty of Engineering Gifu University Gifu 501-1193 Japan Department of Mechanical Engineering Faculty of Engineering Nagoya Institute of Technology Nagoya 466-8555 Japan

In this study, the static stability of the grasp of a single planar object is analyzed using the potential energy method. In previous papers, we considered cases in which individual fingers were replaced by a multidimensional translational spring model, in which each finger is constructed with prismatic joints. Human hands and the most developed mechanical hands are constructed with revolute joints. In this paper, the effects of fingertip rotation and a revolute joint spring model are investigated. A grasp stiffness matrix is analytically derived by considering not only frictional rolling contact but also frictionless sliding contact. The difl＇erence between the frictional stiffness matrix and the frictionless one is analytically obtained. The effect of local curvature at contact points is analytically derived. The grasp displacement directions affected by the change in curvature and the contact condition are also obtained. The derived stiffness matrix of the revolute joint model is compared with that of the prismatic joint model, and then the stiffness relation is clarified. The gravity effect of the object is also considered. The effectiveness of our method is demonstrated through numerical examples. The stability is evaluated by the eigenvalues of the grasp stiffness matrix, and the grasp displacement direction is obtained by the corresponding eigenvectors. The effect of joint angle is also discussed.

关键词： Grasping multifingered hands static grasp stability revolute joint stiffness model.

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