Browse > Article

An Interphalangeal Coordination-based Joint Motion Planning for Humanoid Fingers: Experimental Verification  

Kim, Byoung-Ho (Division of Electrical and Mechatronics Engineering, Kyungsung University)
Publication Information
International Journal of Control, Automation, and Systems / v.6, no.2, 2008 , pp. 234-242 More about this Journal
Abstract
The purpose of this paper is to verify the practical effectiveness of an interphalangeal coordination-based joint motion planning method for humanoid finger operations. For the purpose, several experiments have been performed and comparative experimental results are shown. Through the experimental works, it is confirmed that according to the employed joint motion planning method, the joint configurations for a finger's trajectory can be planned stably or not, and consequently the actual joint torque command for controlling the finger can be made moderately or not. Finally, this paper analyzes that the interphalangeal coordination-based joint motion planning method is practically useful for implementing a stable finger manipulation. It is remarkably noted that the torque pattern by the method is well-balanced. Therefore, it is expected that the control performance of humanoid or prosthetic fingers can be enhanced by the method.
Keywords
Humanoid fingers; interphalangeal coordination; joint motion planning;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By Web Of Science : 0  (Related Records In Web of Science)
Times Cited By SCOPUS : 0
연도 인용수 순위
1 K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, "The development of Honda humanoid robot," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1321-1326, 1998
2 P. Hahn, H. Krimmer, A. Hradetzky, and U. Lanz, "Quantitative analysis of the linkage between the interphalangeal joints of the index finger," Journal of Hand Surgery, vol. 20B, pp. 696-699, 1995
3 T. Yoshikawa, "Analysis and control of robot manipulators with redundancy," Robotics Research: The First International Symposium, Eds. M. Brady and R. Paul, MIT Press, Cambridge, pp. 735-747, 1984
4 B.-H. Kim, "A joint motion planning based on a bio-mimetic approach for human-like finger motion," International Journal of Control, Automation, and Systems, vol. 4, no. 2, pp. 217-226, 2006   과학기술학회마을
5 S. Jacobsen, E. Iversen, D. Knutti, R. Jhonson, and K. Biggers, "Design of the Utah/MIT dextrous hand," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 1520-1532, 1986
6 M. R. Cutkosky, "On grasp choice, grasp models, and the design of hands for manufacturing tasks," IEEE Trans. on Robotics and Automation, vol. 5, no. 3, pp. 269-279, 1989   DOI
7 RTX Manual, Real-Time Extension (RTX), VenturCom, Inc., 1999
8 C. S. Lovchik and M. A. Diftler, "The Robonaut Hand: A dexterous robot hand for space," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 907-912, 1999
9 J. L. Pons, R. Ceres, and F. Pfeiffer, "Multifingered dexterous robotics hand design and control: A review," Robotica, vol. 17, pp. 661-674, 1999   DOI   ScienceOn
10 E. L. Secco, A. Visioli, and G. Magenes, "Minimum jerk motion planning for a prothetic finger," Journal of Robotic Systems, vol. 21, no. 7, pp. 361-368, 2004   DOI   ScienceOn
11 B.-H. Kim, "A study on characteristics of interarticular coordination of human fingers for robotic hands," Journal of the Korea Society of Precision Engineering, vol. 23, no. 7, pp. 67-75, 2006   과학기술학회마을
12 B. Massa, S. Roccella, M. C. Carrozza, and P. Dario, "Design and development of an underactuated prosthetic hand," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3374-3379, 2002
13 J. Butterfass, M. Grebenstein, H. Liu, and G. Hirzinger, "DLR-Hand II: Next generation of destrous robot hand," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 109-114, 2001
14 D. G. Kamper, E. G. Cruz, and M. P. Siegel, "Stereotypical fingertip trajectories during grasp," Journal of Neurophysiology, vol. 90, pp. 3702-3710, 2003   DOI   ScienceOn
15 J. Ueda, Y. Ishida, M. Kondo, and T. Ogasawara, "Development of the NAIST-Hand with visionbased tactile fingertip sensor," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 2343- 2348, 2005
16 T. Iberall, "Human prehension and dexterous robot hands," International Journal of Robotics Research, vol. 16, no. 3, pp. 285-299, 1997   DOI   ScienceOn
17 M. Nordin and V. H. Frankel, Basic Biomechanics of the Musculoskeletal System, Lippincott Williams & Wilkins press, pp. 358-387, 2001
18 J. Lee, Y. Youm, and W. Chung, "The development of POSTECH hand 5," Proc. of IEEE Int. Conf. on Robotics and Automation, pp. 3386-3390, 2004