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Kinematic design optimization for anthropomorphic robot hand based on interactivity of fingers

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A Correction to this article was published on 13 March 2019

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Abstract

The human hand provides excellent grasp capabilities by using the interaction of the thumb and other fingers, and thus, how to dextrously interact with each other can represent the performance of the robot hand. This paper presents the kinematic design optimization for an anthropomorphic robot hand based on the interactivity of fingers. We propose a new performance index, called ‘interactivity of fingers (IF),’ which is useful for quantifying the multifingered precision grasping capability of the robot hand. Using the IF, the kinematic model of an anthropomorphic robot hand is optimized. The optimization is performed by using the genetic algorithm, and position and orientation of the thumb’s saddle joint are systematically determined. In order to verify the usefulness of the proposed performance index, IF of existing hands and that of the optimized model are compared. As a result, the IF of the optimized robot hand is almost five times larger than those of the other hands and the effectiveness of the proposed method is discussed.

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Change history

  • 13 March 2019

    The Acknowledgements, not given in the original publication, are as follows.

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Authors and Affiliations

  1. Mechanical, Industrial, and Manufacturing Engineering, Oregon State University, Corvallis, USA

    Won Suk You

  2. School of Mechanical Engineering, Sungkyunkwan University, ChunchunDong 300, Jangan-gu, Suwon, Kyungki-do, 440-746, Korea

    Young Hun Lee, Gitae Kang, Hyun Seok Oh, Joon Kyue Seo & Hyouk Ryeol Choi

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  1. Won Suk You
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  2. Young Hun Lee
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  3. Gitae Kang
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  4. Hyun Seok Oh
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  5. Joon Kyue Seo
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  6. Hyouk Ryeol Choi
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Correspondence to Hyouk Ryeol Choi.

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You, W.S., Lee, Y.H., Kang, G. et al. Kinematic design optimization for anthropomorphic robot hand based on interactivity of fingers. Intel Serv Robotics 12, 197–208 (2019). https://doi.org/10.1007/s11370-019-00274-x

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  • DOI: https://doi.org/10.1007/s11370-019-00274-x

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