Manipulation of Objects by Means of Phased Movements of Multiple Fingers

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The objective of the project is the development of a theory of "digitation". Digitation means the movement of a grasped object by means of phased movements of multiple, multiply actuated fingers. Physically, what is referred to here is the kind of movement which a human being employs when continuously rotating an object in one hand, when using a screwdriver, for example. In addition to developing a theory of digitation, it is proposed to simulate implementation of that theory. Digital simulation and animation techniques are used in support of that effort. Digitation techniques are developed sufficiently to be ready for implementation in hardware at the conclusion of the project.