Abstract
It is a common observation that the human hand performs various manipulation tasks using not only its fingertips, but all the surfaces available for contact, i.e. intermediate phalanges and the palm. In the first part of this paper some such whole-hand operations are discussed, relating to different domains of fine manipulation such as grasping, exploration and micromotion of objects.
The design guide-lines deduced by the analysis of whole-hand manipulation operations in humans are outdrawn in order to reproduce a similar behaviour in a robotic hand: requirements on mechanical architecture (to provide proper surface conformation and opposition of hand elements) and on sensory equipment (to allow the synthesis of satisfactory control procedures) result from this analysis.
A second part of the paper describes how these issues can be implemented in the version II U.B. Hand, currently under development. The propensity of version I kinematic architecture to whole-hand manipulation is exploited by integrating in the mechanical structure purposely designed force/torque sensors, according to the intrinsic tactile sensing concept: the external surface of each phalange in the fingers and that of the palm thus become integral parts of as many sensing devices.
The final part of the paper provides preliminary suggestions on how to use the proposed hand to perform some tasks requiring whole-hand manipulation.
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© 1993 Springer-Verlag Berlin Heidelberg
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Vassura, G., Bicchi, A. (1993). Whole-Hand Manipulation: Design of an Articulated Hand Exploiting All Its Parts to Increase Dexterity. In: Dario, P., Sandini, G., Aebischer, P. (eds) Robots and Biological Systems: Towards a New Bionics?. NATO ASI Series, vol 102. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-58069-7_10
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DOI: https://doi.org/10.1007/978-3-642-58069-7_10
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