New experimental and minimum mathematical bases for human gripping and micromanipulation-Reference-Cited by-同舟云学术

New experimental and minimum mathematical bases for human gripping and micromanipulation

Published:2019-09-03 Issue:3 Volume:4 Page:247-262
ISSN:2601-6699
Container-title:Journal of Engineering Sciences and Innovation
language:
Short-container-title:JESI

Author:

Starețu Ionel^ORCID

Abstract

"In this paper we present in a more complete and unitary way compared to similar studies the structural, constructive and functional characteristics of the human hand in order to be useful for the constructive and functional optimization of anthropomorphic grippers with fingers, for robots. Thus, we describe the bone structure of the hand and emphasize the observance of the golden proportion between some parts of the human hand. Substantial human hand configurations useful for grasping and micromanipulation are then highlighted. We are experimenting grasping of three significant types of objects and the minimum and sufficient mathematical conditions for static grasping are provided. We experiment micromanipulation of a rod-type object and the minimum mathematical conditions of safe micromanipulation are mentioned. We present, on the basis of our own experiments, adaptations of the author of Cutoksky's taxonomy, which is extended with two new grasping situations, and of grasping situations highlighted by Lyons. "

Publisher

Academia de Stiinte Tehnice in Romania

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