Zhicheng Tao, Shineng Sheng, Zhipei Chen and Guanjun Bao
This paper aims to propose a novel method based on a gesture primitives analysis of human daily grasping tasks for designing dexterous hands with various grasping and in-hand…
Abstract
Purpose
This paper aims to propose a novel method based on a gesture primitives analysis of human daily grasping tasks for designing dexterous hands with various grasping and in-hand manipulation abilities, which simplifies the complex and redundant humanoid five-finger hand system.
Design/methodology/approach
First, the authors developed the fingers and the joint configuration with a series of gesture primitives configurations and the modular virtual finger scheme, refined from the daily work gesture library by principal component analysis. Then, the authors optimized the joint degree-of-freedom configuration with the bionic design analysis of the anatomy, and the authors optimized the dexterity workspace. Furthermore, the adaptive fingertip and routing structure were designed based on the dexterous manipulation theory. Finally, the effectiveness of the design method was experimentally validated.
Findings
A novel lightweight three-finger and nine-degree-of-freedom dexterous hand with force/position perception was designed. The proposed routing structure was shown to have the capability of mapping the relationship between the joint space and actuator space. The adaptive fingertip with an embedded force sensor can effectively increase the robustness of the grasping operation. Moreover, the dexterous hand can grasp various objects in different configurations and perform in-hand manipulation dexterously.
Originality/value
The dexterous hand design developed in this study is less complex and performs better in dexterous manipulation than previous designs.
Details
Keywords
Zhipei Chi and Bo Chen
The world is in a cold peace which is peace without being secure. At the heart of the cold peace is the competition between China and the USA. The cold war will not return because…
Abstract
The world is in a cold peace which is peace without being secure. At the heart of the cold peace is the competition between China and the USA. The cold war will not return because the old and new great powers simply are not as powerful as the old duellers at the start of the cold war. Other important powers, like the EU, Japan, and Russia, have significant roles in determining the outcome.
However, the intense competition between China and the USA has dire consequences for the future of humanity. It fuels nationalism and xenophobia and makes them less capable of addressing domestic issues, such as inequality, misinformation, ageing, etc. It also dims the hope for meaningfully tackling global issues like global warming, which requires a global innovation and mass production system to change the fundamental calculation of economic development and climate policies.