TY - JOUR
T1 - Underactuation Design for Tendon-Driven Hands via Optimization of Mechanically Realizable Manifolds in Posture and Torque Spaces
AU - Chen, Tianjian
AU - Wang, Long
AU - Haas-Heger, Maximilan
AU - Ciocarlie, Matei
N1 - Publisher Copyright:
© 2004-2012 IEEE.
PY - 2020/6
Y1 - 2020/6
N2 - Grasp synergies represent a useful idea to reduce grasping complexity without compromising versatility. Synergies describe coordination patterns between joints, either in terms of position (joint angles) or effort (joint torques). In both of these cases, a grasp synergy can be represented as a low-dimensional manifold lying in the high-dimensional joint posture or torque space. In this article, we use the term mechanically realizable manifolds to refer to the subset of such manifolds (in either posture or torque space) that can be achieved via mechanical coupling of the joints in underactuated hands. We present a method to optimize the design parameters of an underactuated hand in order to shape the mechanically realizable manifolds to fit a predefined set of desired grasps. Our method guarantees that the resulting synergies can be physically implemented in an underactuated hand, and will enable the resulting hand to both reach the desired grasp postures and achieve quasi-static equilibrium while loading the grasps. We demonstrate this method on three concrete design examples motivated by a real use case, and evaluate and compare their performance in practice.
AB - Grasp synergies represent a useful idea to reduce grasping complexity without compromising versatility. Synergies describe coordination patterns between joints, either in terms of position (joint angles) or effort (joint torques). In both of these cases, a grasp synergy can be represented as a low-dimensional manifold lying in the high-dimensional joint posture or torque space. In this article, we use the term mechanically realizable manifolds to refer to the subset of such manifolds (in either posture or torque space) that can be achieved via mechanical coupling of the joints in underactuated hands. We present a method to optimize the design parameters of an underactuated hand in order to shape the mechanically realizable manifolds to fit a predefined set of desired grasps. Our method guarantees that the resulting synergies can be physically implemented in an underactuated hand, and will enable the resulting hand to both reach the desired grasp postures and achieve quasi-static equilibrium while loading the grasps. We demonstrate this method on three concrete design examples motivated by a real use case, and evaluate and compare their performance in practice.
KW - Mechanically realizable manifolds
KW - synergies
KW - tendon-driven underactuated hands
UR - http://www.scopus.com/inward/record.url?scp=85087051877&partnerID=8YFLogxK
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U2 - 10.1109/TRO.2020.2971428
DO - 10.1109/TRO.2020.2971428
M3 - Article
AN - SCOPUS:85087051877
SN - 1552-3098
VL - 36
SP - 708
EP - 723
JO - IEEE Transactions on Robotics
JF - IEEE Transactions on Robotics
IS - 3
M1 - 9040678
ER -