Page 204 - Human Inspired Dexterity in Robotic Manipulation

INDEX

Note: Page numbers followed by f indicate figures, and t indicate tables.
A Center of mass model, 81
Abduction and adduction (ad/b) CMC joint. See Carpometacarpal (CMC)
motions, 98 joint
Adaptation, 28–29, 46 Compression behavior, as linear, 132–134,
use-dependent, 46–48 133f, 134t
Anatomically corrected testbed (ACT) hand, Compression test, 127f
89–90 of fluid fingertip, 119f
Anthropomorphic prosthetic hands, 89–90 with fluid fingertip, 128–129, 128–129f
Anthropomorphic robotic hands, 87–90, Control group, 33
89f, 106–107
D
B Damper model, 4–5, 4f
Ball-socket joint, 98–99 DC servo motor, 56
Bayesian Information Criterion, 35 Decimated generic model, 17–18
Biological joints, hand, 98–100, 98–100f Deformation transfer, 17–18
Biology research, design tools for, 90–91 Degree of freedom (DOF), 150
Biomimetic anthropomorphic design, Degree of freedom (DOF) joint, 98–99
88, 89f Denavit-Hartenberg (DH) convention,
Biomimetic anthropomorphic robotic 100
hand, 91 Dexterity, 2
Biomimetic robotic hand acquisition, 2
crocheted artificial ligaments used in, 102f of robots, 201–202
design, 89 Dexterous hand-object interactions, 28
development of highly, 101 Dexterous manipulation
dynamixel servos used in, 105t human data and potential applications to
elastic pulley system implemented, 104f robotic, 48–49
fully assembled, 103f by robots, 2
performance Digital-hand
fingertip trajectories, 108–111, link and joint of, 15–16
108–110f research, 11–12
object grasping and manipulation, surface mesh of, 16–17
111–112, 112f technology, 12
rapidprototypingprocessof,101–105,101f Digital-hand model, 12, 14–15
BioTac, 117–118 individual, 17–18
Blind grasp, 149, 162 link structures of, 15, 15f
on thumb opposability, 154–158, mechanical analysis, 22–24
156–158f motion analysis and posture synthesis,
20–22, 21f,23f
C representative, 18–20
Carpometacarpal (CMC) joint, 13, 15, with size variations, 17–20
92–93, 99–100 Distal interphalangeal (DIP) joint, 14,
active movements of, 13–14 92–96, 94f,98f
of thumb, 100f DRMC model, 35–36, 44

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