Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Character Writing Using Multi-Fingered Hands : Grasp Modeling and Compliance Analysis

다지 손을 이용한 문자 쓰기 : 파지 모델링 및 컴플라이언스 특성 해석

  • Kim, Byoung-Ho (Dept.of Electrical Electronics Information Communication Engineering, Kangwon National University) ;
  • Yeo, Hee-Joo (Dept.of Electronic Engineering, Daejin University)
  • 김병호 (강원대학교 전기전자정보통신공학부) ;
  • 여희주 (대진대학교 전자공학과)
  • Published : 2001.11.01
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Abstract

When people write a character with a pen stably, proper compliance planning is necessary. In this paper, after investigating the property of character writing task, we propose a fundamental grasp model for character writing and also analyze compliance characteristics for effective character writing using multi-fingered hands. For this, the general stiffness relation of multi-fingered hand is firstly described. Next, we investigate the grasp configurations for grasping a pen and then, we analyze the conditions of the specified stiffness matrix in the operational space to successfully and more effectively achieve the given character writing task. Through the analysis, an effective grasp modeling for successful character writing is shown. And also, we conclude that the operational compliance characteristics should be properly planned for character writing, stably and precisely.

Keywords

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