Prehension of an Anthropomorphic Metamorphic Robotic Hand Based on Opposition Space Model

摘要

This paper presents constrained prehension of an anthropomorphic metamorphic robotic hand based on opposition based model. Structure of the metamorphic hand is briefly introduced and grasp evaluation based on the opposition-space model is presented. Kinematics of the robotic hand is then established leading to the formulation of grasp constraint laying background for investigation of dexterity and manipu-lability of the metamorphic robotic hand.