A Novel Synthesis of Computational Approaches Enables Optimization of Grasp Quality of Tendon-Driven Hands

被引：15

作者：

Inouye, Joshua M. ^{[1
]}

Kutch, Jason J. ^{[1
]}

Valero-Cuevas, Francisco J. ^{[1
,2
]}

机构：

[1] Univ So Calif, Dept Biomed Engn, Los Angeles, CA 90089 USA

[2] Univ So Calif, Div Biokinesiol & Phys Therapy, Los Angeles, CA 90089 USA

来源：

IEEE TRANSACTIONS ON ROBOTICS | 2012年 / 28卷 / 04期

基金：

美国国家卫生研究院; 美国国家科学基金会;

关键词：

Biologically inspired robots; grasping; mechanism design; multifingered hands; KINEMATIC SYNTHESIS; ROBOTIC MECHANISMS; MANIPULATORS; DESIGN; CONTACT;

D O I：

10.1109/TRO.2012.2196189

中图分类号：

TP24 [机器人技术];

学科分类号：

080202 ; 1405 ;

摘要：

We propose a complete methodology to find the full set of feasible grasp wrenches and the corresponding wrench-direction-independent grasp quality for a tendon-driven hand with arbitrary design parameters. Monte Carlo simulations on two representative designs combined with multiple linear regression identified the parameters with the greatest potential to increase this grasp metric. This synthesis of computational approaches now enables the systematic design, evaluation, and optimization of tendon-driven hands.

引用

页码：958 / 966

页数：10

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