Grebenstein, Markus and Chalon, Maxime and Hirzinger, Gerd and Siegwart, Roland (2010) A Method for Hand Kinematics Designers 7 Billion Perfect Hands. 1st International Conference on Applied Bionics and Biomechanics ICABB-2010 , 14.-16.10.2010, Venedig, Italien.
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In the past decade the design of kinematic models for hands has been addressed using several different approaches such as numerical optimization or direct measurement of human hands. However, once the mechanical and structural design constraints are included, no existing kinematic model of the hand ﬁts the needs of the DLR Hand Arm System. The diversity of human hands reveals that the functional aspects are more important than the kinematics itself. In order to develop a suitable model for the hand arm system a more empirical method was developed. Based on an basic hand skeleton, that incorporates the structural constraints, incremental variations are performed to improve the parameters to ﬁt the functional needs of the hand. The tests are derived from a set of common grasps as well as some tests performed by surgeons. To be able to rapidly appreciate the results simple cardboard prototypes are constructed. The resulting kinematics revealed to be a promising and suitable hand kinematics for the DLR Hand Arm System. The design is realized in hardware.
|Document Type:||Conference or Workshop Item (Speech, Paper)|
|Title:||A Method for Hand Kinematics Designers 7 Billion Perfect Hands|
|Keywords:||kinematics, anthropomorphic hand, bionic, robot hand, DLR Hand Arm System|
|Event Title:||1st International Conference on Applied Bionics and Biomechanics ICABB-2010|
|Event Location:||Venedig, Italien|
|Event Type:||international Conference|
|HGF - Research field:||Aeronautics, Space and Transport (old)|
|HGF - Program:||Space (old)|
|HGF - Program Themes:||W SY - Technik für Raumfahrtsysteme|
|DLR - Research area:||Space|
|DLR - Program:||W SY - Technik für Raumfahrtsysteme|
|DLR - Research theme (Project):||W - Vorhaben DLR-4-Finger-Hand III (old)|
|Institutes and Institutions:||Institute of Robotics and Mechatronics > Robotic Systems|
|Deposited By:||Dr. sc. Markus Grebenstein|
|Deposited On:||11 Jan 2011 10:00|
|Last Modified:||11 Jan 2011 10:00|
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