Analysis of Coordinated Motions of Humanoid Robot Fingers Using Interphalangeal Joint Coordination. (28th April 2014)

• Record Type: Journal Article
• Authors: Kim, Byoung-Ho
• Is Part Of: International journal of advanced robotic systems. Volume 11:Number 4(2014)
• Publication Date: 2014-04-28
• Subjects: Interphalangeal Joint Coordination -- Human-like Finger Motion -- Humanoid Robot Fingers; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.5772/58536
• Languages: English
• ISSNs: 1729-8806

Abstract

In this study, we analyse the coordinated motions of humanoid robot fingers using an interphalangeal joint coordination. For this purpose, four humanoid robot fingers with different sizes have been considered. A biomimetic interphalangeal joint coordination (IJC) formulation based on the grasp configuration of human fingers has been presented for humanoid robot fingers. The usefulness of the specified IJC formulation for human-like finger motion has been verified through comparative demonstrations. As a result, a proper coordination of humanoid robot fingertips can be achieved by applying our IJC formulation. Also the IJC formulation can be used to design of humanoid robot fingers.