By Topic

Bioinspired grasp primitives for a dexterous artificial hand to catch and lift a cylinder

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)

Joint motion profiles from nine human test subjects were recorded while catching and lifting a cylinder. Significant differences between the two tasks presented themselves consistently across all test subjects. In general, initial rapid hyperextensions were observed while catching the cylinder versus simply picking it up. Slightly larger ranges of abduction were also seen for the catch, but, as expected for the cylinder, these were approximately symmetric across the four fingers. From the recorded motions, cubic polynomials were fit to the joint angle data to form two distinct grasp primitives. The joint motions of the test subjects were simulated in Simulink with a skeletal structure of the human hand as well as a model of the Shadow Hand. These primitives were subsequently used with the physical Shadow Hand by a human operator who was able to successfully pick up and catch a cylinder. An electromyogram signal measured from the forearm of the test subject was used as the input to the Shadow Hand controller. After a brief training session with the EMG-controlled hand, the cylinder was successfully caught in seven of ten attempts and successfully grasped and lifted in five of five attempts.

Published in:

Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on

Date of Conference:

7-11 Dec. 2011