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http://dx.doi.org/10.5391/IJFIS.2009.9.4.333

Task-Based Analysis on Number of Robotic Fingers for Compliant Manipulations  

Kim, Byoung-Ho (Bio-Mimetic Control & Robotics Lab., School of Electrical and Mechatronics Eng., Kyungsung Univ.)
Publication Information
International Journal of Fuzzy Logic and Intelligent Systems / v.9, no.4, 2009 , pp. 333-338 More about this Journal
Abstract
This paper presents a task-based analysis on the number of independent robotic fingers required for compliant manipulations. Based on the stiffness relation between operational space and fingertip space of a multi-fingered object manipulating system, we describe a technique for modulation of the fingertip stiffness without inter-finger coupling so as to achieve the desired stiffness specified in the operational space. Thus, we provides a guide line how many fingers are basically required for successful multi-fingered compliant tasks. Consequently, this paper enables us to assign effectively the number of fingers for various compliant manipulations by robot hands.
Keywords
Number of robotic fingers; Compliant manipulation; Multi-fingered robotic hand;
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