Gross motion analysis of fingertip-based within-hand manipulation
- Submitting institution
-
University of Sussex
- Unit of assessment
- 12 - Engineering
- Output identifier
- 379230_61251
- Type
- D - Journal article
- DOI
-
10.1109/TRO.2016.2588722
- Title of journal
- IEEE Transactions on Robotics
- Article number
- -
- First page
- 1009
- Volume
- 32
- Issue
- 4
- ISSN
- 1552-3098
- Open access status
- Other exception
- Month of publication
- August
- Year of publication
- 2016
- URL
-
http://dx.doi.org/10.1109/TRO.2016.2588722
- Supplementary information
-
-
- Request cross-referral to
- -
- Output has been delayed by COVID-19
- No
- COVID-19 affected output statement
- -
- Forensic science
- No
- Criminology
- No
- Interdisciplinary
- No
- Number of additional authors
-
1
- Research group(s)
-
-
- Proposed double-weighted
- No
- Reserve for an output with double weighting
- No
- Additional information
- Given a robot hand architecture and a set of assumed contact models, this paper presents a method to perform a gross motion analysis of its precision manipulation capabilities, regardless of the particularities of the object being manipulated. Examples of the application of the proposed method in several architectures of multi-fingered hands with different contact assumptions are explored. This has applications in surgical robots, prosthetics, bomb disposal, and automated assembly in manufacturing.
- Author contribution statement
- -
- Non-English
- No
- English abstract
- -
