In this paper, a method to derive the three predominant synergies and their temporal weights for planning grasps of the UB Hand IV (University of Bologna Hand, version IV) is proposed. The method adopted to define the postural synergies from experiments is based on the kinematic structure of the robotic hand and on the taxonomy of the grasps of common objects. The control strategy, exploiting postural synergies, that drives the hand during reach to grasp is further described. During prehension the hand moves continuously in a configuration space of highly reduced dimensionality with respect to its degrees of freedom. The experiments confirm that the UB Hand IV works efficiently in a synergy based framework for grasp planning and prehension control. It is shown that the introduction of the third predominant synergy significantly improves the grasping synthesis and performance, especially for the adduction/abduction motion of the thumb.
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机译：在本文中，提出了一种方法，用于推导UB Hand IV（博洛尼亚汉德大学，版本IV）的抓地力，从而获得三个主要的协同作用及其时间权重。通过实验定义姿势协同作用的方法是基于机械手的运动学结构和常见对象抓握的分类法。进一步描述了利用姿势协同作用的控制策略，该策略在伸手可及的范围内驱动手以进行抓握。在抓握期间，手在相对于其自由度而言高度减小的尺寸的配置空间中连续移动。实验证实，UB Hand IV在基于协同作用的框架中可以有效地进行抓握计划和对战控制。结果表明，引入第三种主要的协同作用显着改善了抓握的合成和性能，特别是对于拇指的内收/外展运动。
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