Wrench resistant multi-finger hand mechanisms

• Published in: 2016 IEEE International Conference on Robotics and Automation (ICRA) pp. 2030 - 2037
• Main Authors: Burdick, Joel W., Rimon, Elon
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.05.2016
• Subjects: Force; Friction; Grasping; Jacobian matrices; Kinematics; Resistance; Robots

The classical definition and analysis of force closure in robotic grasping focuses only on the fingertip bodies and their contacts with the grasped object. However, the kinematic properties of the hand mechanism can have a non-trivial effect on the actual type of force closure which can be realized...