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www.eng.yale.edu
Abstract Designing robot hands for dexterous precision manipulation involves many complex tradeoffs in order to optimize hand performance. While many studies focus on overall hand kinematics, far fewer consider tradeoffs in the design of the robotic finger surfaces themselves. Our present work uses total hours of precision manipulation from 19 participants to look at the fingertip surfaces used while moving a sphere through as much of the feasible position workspace as possible. Fingertip surface use is estimated by measuring the relative orientation changes between a high-resolution 6 DOF sensor mounted on the fingernails of the fingers and in the object being manipulated, indicating to what extent the object has been rolled onto the sides of the fingers.
Abstract Designing robot hands for dexterous precision manipulation involves many complex tradeoffs in ord er to optimize hand performance.
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