Kinematic design optimization of anthropomorphic robot hand using a new performance index

This paper presents a new performance index, called “Interactivity of Fingers (IF)”, for anthropomorphic robot hand and kinematic design optimization process using this performance index and genetic algorithm. This performance index can quantify robot hands' kinematic structures and used for optimizing the kinematic model of an robot hand collaborating with Genetic algorithm. With this procedure position and orientation of the thumb's saddle joint are systematically determined. To evaluate proposed index, optimized hand model's and existing hands' IFs are calculated, compared and discussed.