Natural hand posture determination using control-oriented inter-finger coordination kinematic models
by Nina Robson; Jong-Seob Won
International Journal of Mechanisms and Robotic Systems (IJMRS), Vol. 5, No. 3, 2023

Abstract: The paper builds up on a recently developed planar control-oriented finger kinematic model for natural grasping, based on thumb-long finger(s) anthropometric data. In the model, the posture is determined by the time-dependent radius R of a virtual cylinder encompassed by the fingers. After the experimental evaluation of the model, the results are combined with circle configuration techniques based on the Pedoe maps, to explore the relation between the fingertip-object curvature within the contact and the configuration parameter R for precision grasping. Within the proposed contact geometry setup the fingertip and object curvatures are represented by circles with different radii. The type of interaction is described by defining a configuration matrix. Six fingertip grasping configurations are considered, each of which is constructed from five available circles: two for the fingertips, one virtual circle, and two at the fingertip-object contact points. The results from the case study show that it is possible to calculate the configuration control parameter R based on the choice of any four circles. The preliminary results could further benefit the field of postural synergies and object manipulation, and open the door to the definition of novel kinematic tasks and future combined design-control strategies.

Online publication date: Thu, 09-Mar-2023

The full text of this article is only available to individual subscribers or to users at subscribing institutions.

 
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.

Pay per view:
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.

Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Mechanisms and Robotic Systems (IJMRS):
Login with your Inderscience username and password:

Username:        Password:          Forgotten your password?

Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.

If you still need assistance, please email subs@inderscience.com