On the role of hand synergies in the optimal choice of grasping forces
On the role of hand synergies in the optimal choice of grasping forces
复制标题
DOI：
10.1007/s10514-011-9244-1
复制
发表时间：
2011-10-01
影响因子：
3.5
通讯作者：
Malvezzi, M.
中科院分区：
文献类型：
--
作者：
Gabiccini, M.;Bicchi, A.;Malvezzi, M.
最近对自然和机器人手的分析工作引入了姿势协同的概念，作为其复杂性的原则性组织，基于手本身的物理特性。这些特征包括关节和手指的机械安排，它们的耦合，以及低级控制反射，这些特征决定了“手”的概念在人类或机器人中的具体体现方式。虽然到目前为止所做的工作的重点与姿势的协同作用一直在把握收购的运动规划，在本文中，我们着手调查的作用，不同的实施方案的选择把握力，并把握的最终质量。数值结果定量显示不同的协同作用（从最根本的高阶），使一些不同的把握可能发挥的作用。被认为是最佳的把握力的分布的数量和类型的参与协同效应。此外，鲁棒性的结果进行了研究，在不确定的参数，如接触和关节刚度的变化。
Recent work on the analysis of natural and robotic hands has introduced the notion of postural synergies as a principled organization of their complexity, based on the physical characteristics of the hand itself. Such characteristics include the mechanical arrangements of joints and fingers, their couplings, and the low-level control reflexes, that determine the specific way the concept of "hand" is embodied in a human being or a robot. While the focus of work done so far with postural synergies has been on motion planning for grasp acquisition, in this paper we set out to investigate the role that different embodiments have on the choice of grasping forces, and on the ultimate quality of the grasp. Numerical results are presented showing quantitatively the role played by different synergies (from the most fundamental to those of higher-order) in making a number of different grasps possible. The effect of number and types of engaged synergies on the distribution of optimal grasp forces is considered. Moreover, robustness of results is investigated with respect to variation in uncertain parameters such as contact and joint stiffness.