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Task-Based Analysis on Number of Robotic Fingers for Compliant Manipulations

Kim, Byoung-Ho    (Bio-Mimetic Control & Robotics Lab., School of Electrical and Mechatronics Eng., Kyungsung Univ.  );
  • 초록

    This paper presents a task-based analysis on the number of independent robotic fingers required for compliant manipulations. Based on the stiffness relation between operational space and fingertip space of a multi-fingered object manipulating system, we describe a technique for modulation of the fingertip stiffness without inter-finger coupling so as to achieve the desired stiffness specified in the operational space. Thus, we provides a guide line how many fingers are basically required for successful multi-fingered compliant tasks. Consequently, this paper enables us to assign effectively the number of fingers for various compliant manipulations by robot hands.


  • 주제어

    Number of robotic fingers .   Compliant manipulation .   Multi-fingered robotic hand.  

  • 참고문헌 (20)

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  • 이 논문을 인용한 문헌 (1)

    1. Kim, Byoung-Ho 2012. "Design and Analysis of Ball Screw-driven Robotic Gripper" 한국지능시스템학회 논문지 = Journal of Korean institute of intelligent systems, 22(1): 22~27     

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