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论文类型：期刊论文

发表时间：2009-08-01

发表刊物：IEEE TRANSACTIONS ON ROBOTICS

收录刊物：SCIE、EI、Scopus

卷号：25

期号：4

页面范围：942-947

ISSN号：1552-3098

关键字：Analysis; dexterous hand; Gauss map; Metahand; metamorphic mechanisms; multifingered hand; orientation; palm; pose; workspace

摘要：This paper introduces for the first time a metamorphic palm and presents a novel multifingered hand, known as Matahand, with a foldable and flexible palm that makes the hand adaptable and reconfigurable. The orientation and pose of the new robotic hand are enhanced by additional motion of the palm, and workspace of the robotic fingers is complemented with the palm motion. To analyze this enhanced workspace, this paper introduces finger-orientation planes to relate the finger orientation to palm various configurations. Normals of these orientation planes are used to construct a Gauss map. Adding an additional dimension, a 4-D ruled surface is generated to illustrate orientation and pose change of the hand, and an orientation-pose manifold is developed from the orientation-pose ruled surface. The orientation and workspace analysis are further developed by introducing a triangular palm workspace that evolves into a helical surface and is further developed into a 4-D representation. Simulations are presented to illustrate the characteristics of this new dexterous hand.