A Novel Synthesis of Computational Approaches Enables Optimization of Grasp Quality of Tendon-Driven Hands

We propose a complete methodology to find the full set of feasible grasp wrenches and the corresponding wrench-direction-independent grasp quality for a tendon-driven hand with arbitrary design parameters. Monte Carlo simulations on two representative designs combined with multiple linear regression...

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Bibliographic Details
Published in:IEEE transactions on robotics 2012-08, Vol.28 (4), p.958-966
Main Authors: Inouye, J. M., Kutch, J. J., Valero-Cuevas, F. J.
Format: Article
Language:English
Subjects:
Applied sciences
Biologically inspired robots
Computation
Computer science
control theory
systems
Computer simulation
Control system synthesis
Control theory. Systems
Design engineering
Design optimization
Design parameters
Exact sciences and technology
Force
Friction
grasping
Joints
mechanism design
Monte Carlo methods
Monte Carlo simulation
Motion control
multifingered hands
Optimization
Regression
Regression analysis
Robotics
Synthesis
Systems design
Tendons
Topology
Torque
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Summary:We propose a complete methodology to find the full set of feasible grasp wrenches and the corresponding wrench-direction-independent grasp quality for a tendon-driven hand with arbitrary design parameters. Monte Carlo simulations on two representative designs combined with multiple linear regression identified the parameters with the greatest potential to increase this grasp metric. This synthesis of computational approaches now enables the systematic design, evaluation, and optimization of tendon-driven hands.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2012.2196189