Accession Number : ADA133448

Title :   Appropriate Lengths between Phalanges of Multijointed Fingers for Stable Grasping.

Descriptive Note : Interim rept.,

Corporate Author : CARNEGIE-MELLON UNIV PITTSBURGH PA ROBOTICS INST

Personal Author(s) : Okada,Tokuji ; Kanade,Takeo

PDF Url : ADA133448

Report Date : 22 Jul 1983

Pagination or Media Count : 20

Abstract : An appropriate arrangement of finger joints is very important since the stability of grasping an object greatly depends on that arrangement. Multijointed fingers can grasp an object with many points of contact each of which is pressed against the object as if wrapping up that object. The amount of the wrapped up area and the form of the finger when an object is grasped are therefore important factors for determining the stability of grasping. The authors propose the wrapping factor to be used for the evaluation of the stability of grasping by using these factors. They consider twenty eight models for the finger having three joints, and perform a simulation of their ability to grasp various shapes stably. Based on the simulation results, an appropriate arrangement of lengths between phalanges for a multijointed finger is presented.

Descriptors :   *Fingers, *Joints, *Holders, Stability, Phalanges, Touch, Simulation, Models, Length

Subject Categories : Bionics

Distribution Statement : APPROVED FOR PUBLIC RELEASE