Towards Multi-Finger Dexterous Hand Mechanics Control and Tactile Feedback

Towards Multi-Finger Dexterous Hand Mechanics Control and Tactile Feedback

Ying Liu, Du Jiang, Yibo Liu, Juntong Yun, Dongxu Bai, Gongfa Li, Dalin Zhou
Copyright: © 2021 |Pages: 11
DOI: 10.4018/IJCINI.286770
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Abstract

Abstract：The ever-changing demands of industrial automation and space technology have promoted the rapid development of robotics. Traditional robotic end effectors are difficult to perform smart operations, so there is an urgent need for a robotic hand to perform complex operations instead of humans. In this article, we will focus our attention on mechanical control and haptic feedback. Mechanical control and haptic feedback are necessary conditions for the stable and accurate grasping of multi-finger dexterous hands. Tactile perception can provide stiffness and temperature to multi-finger dexterous hands. Important information makes the function of the dexterous hand more perfect. This article introduces the kinematics and dynamics of dexterous hand fingers, as well as the kinematics and dynamics solving equations, then reviews the current sensors and various control driving methods used in dexterous hands, discusses drive control, and compares each method Pros and cons. Finally, the future development of dexterous hands is predicted.
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2. Multi-Finger Dexterous Hand Mechanics

The human hand mainly consists of three parts (Zhe, 2016): wrist, palm and finger. The wrist joint is connected to the palm through the (CMC) of the carpometacarpal joint, as shown in Figure 1.

2.1 Finger Kinematics

Kinematics is a branch of mechanics which describes and studies the change of object position with time from the geometric point of view. The kinematics is divided into forward solution and inverse solution, and the relative pose relation between the finger linkage is in series form. D-H parameter method is usually used to model forward solutions. Inverse solution is more complex, the commonly used methods are analytical method, iterative method and geometric method.

Figure 1.

(a)Skeleton of the human hand. (b)Coordinate system front (Craig, 1987) . (c)Coordinate system postposition.(Craig, 1987)

IJCINI.286770.f01

2.2 Finger Statics

Finger statics is the relationship between the force on the tip of the finger and the torque of the joint, when the finger is in force balance. A finger can be approximated by a series of mechanical arms. The Jacobi matrix and determinant can be used to change the speed between the coordinate systems, mapping the relationship to the speed at the end of the finger, the equation of statics can be obtained by taking the differential of the angle of the joint through the Jacobi matrix and determinant equation (Mechanics, 2020).

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