Kim, BH Yi, BJ Oh, SR Suh, IH 2024-01-21T06:02:33Z 2024-01-21T06:02:33Z 2021-09-05 2004-12 0741-2223 https://pubs.kist.re.kr/handle/201004/136987 In this paper, we present a fundamental compliance analysis for multi-fingered hands and also provide a guideline for specifying compliance characteristics in the three-dimensional 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 the coupling stiffness elements cannot be planned arbitrarily. Also, an independent finger-based compliance control method to achieve the given compliance characteristics is described. Conclusively, when we specify the operational stiffness matrix, the contents of the operational stiffness matrix cannot be fully achieved by influence of the grasp geometry of multi-fingered hands. The grasp positions of fingers as well as the RCC point, which are shown important factors, should be chosen to achieve the specified operational stiffness matrix for the given task. The cases of a point contact with friction and soft contact are examined as illustrative examples. It is observed that a five-fingered robotic hand is sufficient for implementation of proper three-dimensional compliance characteristics. (C) 2004 Wiley Periodicals, Inc. English WILEY DESIGN HAND A guideline for specifying compliance in multi-fingered operations Article 10.1002/rob.20041 1 JOURNAL OF ROBOTIC SYSTEMS, v.21, no.12, pp.651 - 663 JOURNAL OF ROBOTIC SYSTEMS 21 12 651 663 scie scopus 000225523700002 2-s2.0-10944231295 Robotics Robotics Article DESIGN HAND