Title :
Notice of Retraction
Geometric optimization of pinching and grasping underactuated finger
Author :
Azlan, N.Z. ; Yamaura, H.
Author_Institution :
Dept. of Mech. & Control Eng., Tokyo Inst. of Technol., Tokyo, Japan
Abstract :
Notice of Retraction
After careful and considered review of the content of this paper by a duly constituted expert committee, this paper has been found to be in violation of IEEE´s Publication Principles.
We hereby retract the content of this paper. Reasonable effort should be made to remove all past references to this paper.
The presenting author of this paper has the option to appeal this decision by contacting TPII@ieee.org.
This paper presents a new underactuated finger mechanism to perform pinching and grasping operation. The mechanism is made of seven bar linkages and its upper middle phalange is incorporated with a guiding slot to adjust the link´s effective length in achieving human finger´s configuration during these two operations. The geometrical parameters are optimized based on anthropomorphic pinching kinematics and force; and grasping kinematics and force to ensure its operational efficiency. The numerical result obtained gives an improved parameter set to build the finger as the optimal solution provides less error than the initial guess.
Keywords :
bars; couplings; kinematics; mechanical guides; optimisation; prosthetics; anthropomorphic pinching kinematics; bar linkages; geometric optimization; grasping force; grasping kinematics; guiding slot; human finger configuration; operational efficiency; pinching force; underactuated finger; upper middle phalange; grasping; optimization; pinching; robotic finger; underactuated finger;
Conference_Titel :
Mechanical and Electronics Engineering (ICMEE), 2010 2nd International Conference on
Conference_Location :
Kyoto
Print_ISBN :
978-1-4244-7479-0
DOI :
10.1109/ICMEE.2010.5558545
