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    Orientation and Workspace Analysis of the Multifingered Metamorphic Hand-Metahand

    193066_193066.pdf (605.1Kb)
    Access Status
    Open access
    Authors
    Dai, J.
    Wang, D.
    Cui, Lei
    Date
    2009
    Type
    Journal Article
    
    Metadata
    Show full item record
    Citation
    Dai, J. S. and Wang, Delun and Cui, Lei. 2009. Orientation and Workspace Analysis of the Multifingered Metamorphic Hand-Metahand. IEEE Transactions on Robotics. 25 (4): pp. 942-947.
    Source Title
    IEEE Transactions on Robotics
    DOI
    10.1109/TRO.2009.2017138
    ISSN
    1552-3098
    Remarks

    Copyright © 2009 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

    URI
    http://hdl.handle.net/20.500.11937/36329
    Collection
    • Curtin Research Publications
    Abstract

    This paper introduces for the first time a metamorphic palm and presents a novel multifingered hand, known as Matahand, with a foldable and flexible palm that makes the hand adaptable and reconfigurable. The orientation and pose of the new robotic hand are enhanced by additional motion of the palm, and workspace of the robotic fingers is complemented with the palm motion. To analyze this enhanced workspace, this paper introduces finger-orientation planes to relate the finger orientation to palm various configurations. Normals of these orientation planes are used to construct a Gauss map. Adding an additional dimension, a 4-D ruled surface is generated to illustrate orientation and pose change of the hand, and an orientation–pose manifold is developed from the orientation–pose ruled surface. The orientation and workspace analysis are further developed by introducing a triangular palm workspace that evolves into a helical surface and is further developed into a 4-D representation. Simulations are presented to illustrate the characteristics of this new dexterous hand.

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