Bioinspired Sinusoidal Finger Joint Synergies for a Dexterous Robotic Hand to Screw and Unscrew Objects With Different Diameters

• Published in: IEEE/ASME transactions on mechatronics Vol. 18; no. 2; pp. 612 - 623
• Main Authors: Karnati, N., Kent, B. A., Engeberg, E. D.
• Format: Journal Article
• Language: English
• Published: IEEE 01.04.2013
• Subjects: Dexterous hand; distributed parameter systems; grasp synergy; Humans; Joints; Principal component analysis; prosthetic hand; Robots; Sensors; sliding mode control; Thumb; Trajectory

This paper addresses the complex task of unscrewing and screwing objects with a dexterous anthropomorphic robotic hand in two cases: with the first finger and thumb and also with the little finger and thumb. To develop an anthropomorphic solution, human finger synergies from nine test subjects were...