Analysis and Systematic Classification of Human Hand Movement for Robot Hand Design
Takeshi Ninomiya* and Takashi Maeno**
*Keio University, Graduate School of Science and Technology, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan
**Keio University, Faculty of Science and Technology, Department of Mechanical Engineering
The systematic classification of hand movements, which indicates the minimum mechanism of robot hands, is suggested. The performance of existent robot hands is not as high as that of human hands because the performance of existent actuators does not come up to that of human muscles in the same volume. It is important for robot hands to accomplish targeted tasks with a minimum mechanism. Human hand movements are analyzed quantitatively considering robot hands such as associated movement of DIP and PIP joints. Based on the results of analysis, we obtain three items, i.e., fingers, joints that must be set up actuators and basic movements we define. We systematically classify human hand movement for the robot hand based on three items.
-  Y. Matsuoka, “The Mechanism in a Humanoid Robot Hand,” Autonomous Robots, Vol.4, No.2, pp. 199-209, 1997.
-  http://www.honda.co.jp/ASIMO/
-  C. S. Lovchic and M. A. Diftler, “A Dexterous Robot Hand for Space,” Proc. of the 1999 IEEE Int. Conf. Robotics and Automation, pp. 907-912, 1999.
-  http://www.shadow.org.uk/products/newhand.shtml
-  I. Yamano and T. Maeno, “Five-fingered Robot Hand using Ultrasonic Motors and Elastic Elements,” Robotics and Automation, 2005. ICRA 2005. Proc. of the 2005 IEEE Int. Conf. on, pp. 2673-2678, 2005.
-  S. C. Jacobsen, E. K. Iversen, D. F. Knutti, R. T. Johnson, and K. B. Biggers, “Design of the Utah/MIT Dexterous Hand,” Proc. of the 1986 IEEE Int. Conf. on Robotics and Automation, pp. 1520-1532, 1986.
-  J. Butterfass, M. Fischer, M. Grebenstein, S. Haidacher, and G. Hirzinger, “Design and experiences with DLR hand II,” World Automation Congress, Vol.15, pp. 105-110, 2004.
-  H. Kawasaki, T. Komatsu, and K. Uchiyama, “Dexterous anthropomorphic robot hand with distributed tactile sensor: Gifu hand II,” Mechatronics, IEEE/ASME Transactions on, Vol.7, pp. 296-303, 2002.
-  T. Morita, H. Iwata, and S. Sugano, “Human symbiotic robot design based on division and unification of functional requirements,” Robotics and Automation, 2000. Proc. ICRA ’00. IEEE Int. Conf. on, Vol.3, pp. 2229-2234, 2000.
-  K. J. Kyriakopoulos, J. V. Riper, A. Zink, and H. E. Stephanou, “Kinematics Analysis and Position/Force Control of the Anthrobot Dexterous Hand,” IEEE Transactions on Systems, Vol.27, No.1, pp. 95-103, 1997.
-  K. Hoshino and I. Kawabuchi, “Dexterous robot hand with pinching function at fingertips,” Biomedical Robotics and Biomechatronics, 2006. BioRob 2006. The First IEEE/RAS-EMBS Int. Conf. on, pp. 1113-1118, 2006.
-  K. Hirai, M. Hirose, Y. Haikawa, and T. Takenaka, “The development of Honda humanoid robot,” Robotics and Automation, 1998. Proc.1998 IEEE Int. Conf. on, Vol.2, pp. 1321-1326, 1998.
-  L.-R. Lin and H.-P. Huang, “Mechanism Design of A New Multifingered Robot Hand,” Proc. of the 1996 IEEE Int. Conf. on Robotics and Automation, pp. 1471-1476, 1996.
-  D. Shiokata, A. Namiki, and M.Iwata, “Robot dribbling using a high-speed multifingered hand and a high-speed vision system,” Intelligent Robots and Systems, 2005 IEEE/RSJ Int. Conf. on, pp. 2097-2102, 2005.
-  I. Napier, “The prehensile movements of the human hand,” J. of Bone and Joint surgery, Vol.38B, No.4, pp. 902-913, 1956.
-  M. R. Cutkosky, “On Grasp Choice, Grasp Models, and the Design of Hands for Manufacturing,” IEEE Transactions of Robotics and Automation, Vol.5, No.3, pp. 269-279, 1989.
-  N. Kamakura, “Te no katachi, te no ugoki,” Ishiyaku Publishers, Inc. 1989.
-  T. Yamashita and M. Mori, “Engineering Approaches to Function of Fingers,” Report of Institute of Industrial Science, University of Tokyo. Vol.13, No.3, pp. 1-51, 1963.
-  T. Iberall, “The nature of human prehension: Three dexterous in one,” Int. Conf. on Robotics and Automation, Vol.16, pp. 258-299, 1987.
-  S. B. Kang and K. Ikeuchi, “Toward Automatic Robot Instruction from Perception Recognizing a Grasp from Observation,” IEEE Transactions of Robotics and Automation, Vol.9, No.4, 1993.
-  http://www.cybertouch.com/
-  M. Bouzid, G. Popescu, G. Burda, and R.Boian, “The Rutgers Master II-ND Force-Feedback Glove,” Preprint of paper to appear in Proc. of IEEE VR 2002 Haptics Symposium, pp. 68-73, 2002.
-  I. A. Kapandji, “The Physiology of the Joints: The Upper Limb (PAP),” Churchill Livingstone Publishers, Inc. 2006.
-  M. Kondo, J. Ueda, Y. Matsumoto, and T. Ogasawara, “Manipulative Familiarization and Fatigue Evaluation Using Contact State Transition,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, pp. 3767-3772, 2006.
-  N. Funakubo, “Pattern ninshiki,” Kyouritsu Publishers, Inc. 1991.
Copyright© 2008 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.