Open AccessAnalysis of Coordinated Motions of Humanoid Robot Fingers Using Interphalangeal Joint Coordination
Author(s) -
ByoungHo Kim
Publication year - 2014
Publication title -
international journal of advanced robotic systems
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.394
H-Index - 46
eISSN - 1729-8814
pISSN - 1729-8806
DOI - 10.5772/58536
Subject(s) - humanoid robot , computer science , interphalangeal joint , grasp , robot , joint (building) , artificial intelligence , computer vision , human–computer interaction , simulation , engineering , medicine , architectural engineering , surgery , programming language
In this study, we analyse the coordinated motions of humanoid robot fingers using an interphalangeal joint coordination. For this purpose, four humanoid robot fingers with different sizes have been considered. A biomimetic interphalangeal joint coordination (IJC) formulation based on the grasp configuration of human fingers has been presented for humanoid robot fingers. The usefulness of the specified IJC formulation for human-like finger motion has been verified through comparative demonstrations. As a result, a proper coordination of humanoid robot fingertips can be achieved by applying our IJC formulation. Also the IJC formulation can be used to design of humanoid robot fingers