NDLI: Grasp and manipulation analysis for synergistic underactuated hands under general loading conditions

Content Provider	IEEE Xplore Digital Library
Author	Gabiccini, M. Farnioli, E. Bicchi, A.
Copyright Year	2012
Description	Author affiliation: Interdept. Research Center “E. Piaggio”, University of Pisa, Italy (Gabiccini, M.; Farnioli, E.; Bicchi, A.)
Abstract	In dexterous grasping, the development of simple but practical hands with reduced number of actuators, designed to perform some manipulation tasks, is both attractive and challenging. To carefully synthesize inter- and intra-finger couplings a rigorous way to establish grasping and manipulation properties of an underactuated hand is of paramount importance. In this paper, we propose a general approach to characterize the structural properties of underactuated hands focusing on their kinematic and force analysis. A complete kinostatic characterization of a given grasp (pure squeeze, spurious squeeze, kinematic grasp displacements and so on) is introduced. The analysis is quasi-static but it is not limited to rigid-body motions, encompassing also essential elastic motions, statically indeterminate configurations, and pre-loaded initial conditions. The introduction of generalized compliance at contacts and in the actuation mechanism is included, as it is an essential feature of safe and dependable modern hands. Efficient algorithms to characterize the system behavior are presented and applied in two different numerical examples.
Starting Page	2836
Ending Page	2842
File Size	745927
Page Count	7
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6224959
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Equations Joints Mathematical model Jacobian matrices Vectors Force Robots
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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