Page 89 - Human Inspired Dexterity in Robotic Manipulation

CHAPTER 6

Approaching Human Hand

Dexterity Through Highly

Biomimetic Design

a,
Zhe Xu *
*
Department of Mechanical Engineering, Yale University, New Haven, CT, United States

Contents
6.1 Introduction 87
6.2 Related Work and Motivation 89
6.2.1 Anthropomorphic Robotic/Prosthetic Hands 89
6.2.2 Design Tools for Medicine and Biology Research 90
6.3 The Important Anatomy of the Human Hand 91
6.3.1 Bones and Joints 92
6.3.2 Joint Ligaments 93
6.3.3 Flexor and Extensor Tendons 94
6.3.4 Tendon Sheaths 96
6.3.5 Biological Joints 98
6.4 Development of the Highly Biomimetic Robotic Hand 101
6.4.1 The Rapid Prototyping Process of Our Biomimetic Robotic Hand 101
6.4.2 Teleoperation of Our Proposed Robotic Hand 105
6.5 Performance of the Biomimetic Robotic Hand 107
6.5.1 Fingertip Trajectories 108
6.5.2 Object Grasping and Manipulation 111
6.6 Conclusion 113
Acknowledgments 113
References 113
Further Reading 114

6.1 INTRODUCTION
The significance of designing anthropomorphic robotic hands most likely
originatesfromtheexpectationofusingmotorizedprosthetichandstorestore

a
This research work was conducted as part of Zhe Xu’s PhD project when he was with the
Department of Computer Science and Engineering, University of Washington, Seattle,
WA, USA.

Human Inspired Dexterity in Robotic Manipulation © 2018 Elsevier Inc.
https://doi.org/10.1016/B978-0-12-813385-9.00006-6 All rights reserved. 87