Mechanical implementation of kinematic synergy for continual grasping generation of anthropomorphic hand
- Submitting institution
-
University of Lincoln
- Unit of assessment
- 11 - Computer Science and Informatics
- Output identifier
- 17879
- Type
- D - Journal article
- DOI
-
10.1109/TMECH.2014.2329006
- Title of journal
- IEEE/ASME Transactions on Mechatronics
- Article number
- -
- First page
- 1249
- Volume
- 20
- Issue
- 3
- ISSN
- 1083-4435
- Open access status
- Out of scope for open access requirements
- Month of publication
- May
- Year of publication
- 2015
- URL
-
https://doi.org/10.1109/TMECH.2014.2329006
- Supplementary information
-
-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
-
2
- Research group(s)
-
-
- Citation count
- 29
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- It has been a huge challenge to design anthropomorphic hands that are able to reproduce most of the human continual grasping movements with as little as possible control complexity. This paper is the first to address the design principle by mechanically implementing the angular velocity synergy. The proposed design principle dramatically reduced the control complexity of anthropomorphic hand in continual grasping. This paper and the follow up publications paved the way for new anthropomorphic hand design.
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -