Kim, BH Yi, BJ Oh, SR Suh, IH 2024-01-19T16:09:04Z 2024-01-19T16:09:04Z 2022-03-07 2001 1050-4729 https://pubs.kist.re.kr/handle/201004/117924 In this paper, we provide a guideline for specifying compliance characteristics in the operational space of multi-fingered hands. Through the analysis of the stiffness relation between the operational space and the fingertip space of multi-fingered hands, it is shown that some of coupling stiffness elements cannot be planned arbitrary. And an independent finger-based compliance control method to achieve the given compliance characteristics is presented. Through the analytical results, it is concluded that the operational stiffness,matrix should be carefully specified by considering the grasp geometry of multi-fingered hands for successful grasping and manipulation tasks and also three-dimensional compliance control can be achieved by five-fingered hands like human. English IEEE Fundamentals and analysis of compliance characteristics for multi-fingered hands Conference 1 IEEE International Conference on Robotics and Automation, pp.3034 - 3041 IEEE International Conference on Robotics and Automation 3034 3041 US SEOUL, SOUTH KOREA 2001-05-21 2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS 000172615800482 Proceedings Paper