MANIPULATION
A design framework for dexterous robotic hand
Seunghoon Shin, Sang-Chul Han, Kunwook Lee, Hyungpil Moon, Hyouk Ryeol Choi, Ja Choon Koo
- Year
- 2011
- Citations
- 5
Abstract
Our goal is to design a dexterous robot hand driven by motor. For this, we studied a human hand analysis and constructed a DH model. We verified it by using Visual tracker. Also, we calculated workspace, manipulability, Opposition Angle of a human hand DH model and made the Kapandji test. By using this human hand analysis data, we designed new robot hand and analyzed the newly designed robot hand. Also we compared with analysis data of other robot hands.
Keywords
WorkspaceRobotComputer scienceArtificial intelligenceHuman–robot interactionComputer visionSimulationRobot handRobot end effectorHuman–computer interaction
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