A Bio-Mimetic Inter-Articular Coordination Model for Humanoid Graspings

Analyzing the motion behavior of human fingers is a very important aspect to modulate a human-like motion of humanoid fingers handling an object. Based on this concept, this paper analyzes the joint trajectories of human fingers for an operation of hand opening and closing, and identifies an empirical relationship that coordinates the inter-joint actuation of human fingers doing the motion. For the application of its feature to robotic fingers, a suitable model that is possible to prescribe a relative joint motion of humanoid fingers is also suggested. It is expected that the proposed inter-articular coordination model is applicable for humanoid fingers to implement various natural human-like graspings