ANALYSIS OF HUMAN HAND AND GRASPING

摘要

The Department of Process Control at the T. U. Budapest launched a project on dextrous robot hands in the last year with the support of National Scientific Research Fund. A key question in the application of dextrous hands is the elaboration of effective algorithms in order to make a good use of versatile mechanism and multichannel sensing capability. The paper reviews human upper limb and grasp choice, and a grasp taxonomy for three-fingered dextrous grippers is introduced, based on a heuristic approach.