OBJECT GRASPING USING MULTI-FINGER DEVICES

Abstract

The first part of the paper presents a reduced human hand model, considered an arborescent robot whose geometry is described using the Khalil-Kleinfinger notation. Then a systemic presentation of the ways in which human hand can grasp and manipulate objects, in order to accomplish a command strategy of dexterous grasping devices, is done. Based on the above elements, some considerations are presented, regarding: the classification of grasped objects in different classes; the establishing of some characteristics which enable the identification of the class, position and orientation of objects; the determination of the grasping solution using neuronal networks, based on a lot of cases previously stored.