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  1. International Journal on Interactive Design and Manufacturing (IJIDeM)
  2. International Journal on Interactive Design and Manufacturing (IJIDeM) : Volume 6
  3. International Journal on Interactive Design and Manufacturing (IJIDeM) : Volume 6, Issue 2, May 2012
  4. A bio-inspired grasp optimization algorithm for an anthropomorphic robotic hand
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International Journal on Interactive Design and Manufacturing (IJIDeM) : Volume 11
International Journal on Interactive Design and Manufacturing (IJIDeM) : Volume 10
International Journal on Interactive Design and Manufacturing (IJIDeM) : Volume 9
International Journal on Interactive Design and Manufacturing (IJIDeM) : Volume 8
International Journal on Interactive Design and Manufacturing (IJIDeM) : Volume 7
International Journal on Interactive Design and Manufacturing (IJIDeM) : Volume 6
International Journal on Interactive Design and Manufacturing (IJIDeM) : Volume 6, Issue 4, November 2012
International Journal on Interactive Design and Manufacturing (IJIDeM) : Volume 6, Issue 3, August 2012
International Journal on Interactive Design and Manufacturing (IJIDeM) : Volume 6, Issue 2, May 2012
Modeling morphological features of timber from X-ray tomographic images
MagicPad: the projection based 3D user interface
Requirements for an enactive tool to support skilled designers in aesthetic surfaces definition
Methods for designing assistive devices extracted from 16 case studies in the literature
Mobile devices within manufacturing environments: a BMW applicability study
A bio-inspired grasp optimization algorithm for an anthropomorphic robotic hand
Stress-based performance comparison of dental implants by finite element analysis
Virtual reality based safety system for airborne platforms
International Journal on Interactive Design and Manufacturing (IJIDeM) : Volume 6, Issue 1, February 2012
International Journal on Interactive Design and Manufacturing (IJIDeM) : Volume 5
International Journal on Interactive Design and Manufacturing (IJIDeM) : Volume 4
International Journal on Interactive Design and Manufacturing (IJIDeM) : Volume 3
International Journal on Interactive Design and Manufacturing (IJIDeM) : Volume 2
International Journal on Interactive Design and Manufacturing (IJIDeM) : Volume 1

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A bio-inspired grasp optimization algorithm for an anthropomorphic robotic hand

Content Provider Springer Nature Link
Author Cordella, F. Zollo, L. Guglielmelli, E. Sicilia, B.
Copyright Year 2012
Abstract A fundamental requirement for assistive robots is to guarantee a safe and human-like way to perform their tasks. In particular, the ability to realize smooth movements and obtain a stable grasp is of primary importance. In this perspective, this paper aims at studying human grasping and developing a bio-inspired method for power-grip posture prediction and finger trajectory planning for a robotic hand. The developed method is based on neuroscientific assumptions and experimental evidence coming from the observation of the human behavior during power grip. It is based on the minimization of a suitably defined function to identify the optimal grasp configuration and the choice of a logarithmic spiral trajectory for moving the fingers. The behavior of ten different subjects during the grasping action has been analyzed with the CyberGlove motion capture data glove. A common thumb posture has been observed and has been introduced in the grasping algorithm. The algorithm performance has been tested on an anthropomorphic robotic hand by means of simulation trials. The results demonstrate the effectiveness of the approach and pave the way for the implementation on a real robotic hand.
Starting Page 113
Ending Page 122
Page Count 10
File Format PDF
ISSN 19552513
Journal International Journal on Interactive Design and Manufacturing (IJIDeM)
Volume Number 6
Issue Number 2
e-ISSN 19552505
Language English
Publisher Springer-Verlag
Publisher Date 2012-03-04
Publisher Place Paris
Access Restriction One Nation One Subscription (ONOS)
Subject Keyword Grasping Bio-inspired Preshaping Robotic hand Cyberglove Engineering Electronics and Microelectronics, Instrumentation Mechanical Engineering Computer-Aided Engineering (CAD, CAE) and Design Industrial Design Engineering Design
Content Type Text
Resource Type Article
Subject Industrial and Manufacturing Engineering Modeling and Simulation
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