Fundamentals and analysis of compliance characteristics for multi-fingered hands

Abstract

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.