Mechanisms of the Anatomically Correct Testbed Hand
We have built an anatomically correct testbed (ACT) hand with the purpose of understanding the intrinsic biomechanical and control features in human hands that are critical for achieving robust, versatile, and dexterous movements, as well as rich object and world exploration. By mimicking the underl...
Saved in:
Published in | IEEE/ASME transactions on mechatronics Vol. 18; no. 1; pp. 238 - 250 |
---|---|
Main Authors | , , , , , , , , |
Format | Journal Article |
Language | English |
Published |
New York
IEEE
01.02.2013
The Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
Subjects | |
Online Access | Get full text |
Cover
Loading…
Summary: | We have built an anatomically correct testbed (ACT) hand with the purpose of understanding the intrinsic biomechanical and control features in human hands that are critical for achieving robust, versatile, and dexterous movements, as well as rich object and world exploration. By mimicking the underlying mechanics and controls of the human hand in a hardware platform, our goal is to achieve previously unmatched grasping and manipulation skills. In this paper, the novel constituting mechanisms, unique muscle to joint relationships, and movement demonstrations of the thumb, index finger, middle finger, and wrist of the ACT Hand are presented. The grasping and manipulation abilities of the ACT Hand are also illustrated. The fully functional ACT Hand platform allows for the possibility to design and experiment with novel control algorithms leading to a deeper understanding of human dexterity. |
---|---|
Bibliography: | ObjectType-Article-2 SourceType-Scholarly Journals-1 ObjectType-Feature-1 content type line 23 |
ISSN: | 1083-4435 1941-014X |
DOI: | 10.1109/TMECH.2011.2166801 |