Control philosophy and simulation of a robotic hand as a model for prosthetic hands

Author

Iberall, Thea ; Sukhatme, Gaurav ; Beattie, Denise ; Bekey, George A.

Author_Institution

Univ. of Southern California, Los Angeles, CA, USA

Volume

2

fYear

1993

fDate

26-30 Jul 1993

Firstpage

824

Abstract

Multi-fingered robotic hands are attempts to approximate human hand characteristics and functionality, and it is reasonable to consider their possible adaptation and use in prosthetics and rehabilitation. The Belgrade/USC robot hand is used as a prototype prosthetic hand in order to evaluate a system that translates task-level commands into motor commands. The system, PRESHAPE, uses the virtual finger concept for generating the free and guarded motions that occur during the phases of hand movements in prehensile and nonprehensile tasks. This paper describes the control philosophy of PRESHAPE and presents simulation results for various tasks

Keywords

manipulators; Belgrade/USC robot hand; PRESHAPE; control philosophy; free motions; guarded motions; hand movement phases; human hand characteristics; motor commands; multi-fingered robotic hands; prehensile tasks; prosthetic hands; rehabilitation; simulation; task-level commands; virtual finger concept; Computational modeling; Computer simulation; Fingers; Grasping; Humans; Prosthetic hand; Rehabilitation robotics; Robot sensing systems; Shape; Temperature sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on

Conference_Location

Yokohama

Print_ISBN

0-7803-0823-9

Type

conf

DOI

10.1109/IROS.1993.583184

Filename

583184