The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2020
Session ID : 2A2-K02
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Relationship between Degree of Freedom of Robot Hands and Manipulation Capabilities
*Yoshiyuki SUZUKIAkihiko YAMAGUCHIKoichi HASHIMOTO
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Abstract

We explore designing a guideline of robotic hands that can perform a range of manipulation tasks with minimum mechanical complexities. Referring to the analysis of human hand movement, we analyze finger-independent movement requirements for each manipulation task, and robotic hands that are capable of those movements. This paper reports a preliminary version of these analyses and its verification with two robotic hands that have different mechanisms.

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© 2020 The Japan Society of Mechanical Engineers
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