A Wrist for Fine-Motion Tasks
When humans perform manufacturing tasks requiring both large and fine motions, for example when using a large wrench to tighten a bolt, they use arm muscles for achieving the required speed and power, but use wrist muscles for the fine accommodations needed to slip the wrench over the head of the bolt. During the fine motions, the arm serves as a stable support for the wrist and hand. Lighter tasks, such as writing with a pencil or assembling small parts, may use finger manipulation. However, in a metal working cell, tools and parts are often too heavy for humans to manipulate with their fingers. Instead, people grasp the parts with a passive grip in which the fingers conform to the tool or object, and they make motions with the wrist and arm. Likewise, an active wrist may be combined with a conventional, passive gripper in many manufacturing tasks.
KeywordsSensor Reading Tracking Task Fine Motion Robot Controller Robot Path
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