Abstract
This investigation tackles the issue of assessing performance by comparing the mechanical outputs to capabilities achieved by human fingers in terms of dexterity and versatility. Unlike previous designs which are limited in their performance, our novel mathematical formulation bridges the gap between the mechanical attributes of anthropomorphic tendon-driven fingers and the dexterity of human fingers. Our formulation translates the mechanical output from the tendon space to the object space. In order to evaluate the performance of an anthropomorphic tendon-driven robotic finger, we measured fingertip forces as reference for human-level performance. The data was then used to formulate performance metrics for the robotic fingers. By comparing the recorded forces with that of the simulated mechanical output of the robotic fingers with different tendon routing designs, we can qualitatively gauge the performance and versatility of the robotic fingers for various grasping and manipulation tasks. Our mathematical formulation thus provides a different perspective, enabling a comprehensive assessment of the performance of tendon-driven robotic fingers in terms of dexterity as well as versatility.
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Notes
- 1.
We assume anthropomorphic 3-link fingers, i.e., \(N{=}3\).
- 2.
N always refers to the finger degrees of freedom (DoF).
- 3.
ct and cw refer to precision fingertip and the whole-limb grasping, respectively.
- 4.
The mapping is not a bijection (as in scenario 1), therefore, we build an augmented state to compute the feasible set polytope \(\mathcal P_{\mathcal {F}_{nt}}\) satisfying torque-constraints.
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Acknowledgment
This work was supported by the Federal Ministry of Education and Research of the Federal Republic of Germany (BMBF) project AI.D (Project Number 16ME0539K), and partially funded by the Lighthouse Initiative Geriatronics from StMWi Bayern (Project X, grant 5140951). Please note that S. Haddadin has a potential conflict of interest as a shareholder of Franka Emika GmbH.
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Li, J., Ganguly, A., Figueredo, L.F.C., Haddadin, S. (2024). Tendon to Object Space: Evaluation of Anthropomorphic Finger for Human-Like Performance. In: Piazza, C., Capsi-Morales, P., Figueredo, L., Keppler, M., Schütze, H. (eds) Human-Friendly Robotics 2023. HFR 2023. Springer Proceedings in Advanced Robotics, vol 29. Springer, Cham. https://doi.org/10.1007/978-3-031-55000-3_14
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