‘TRANSFORMATION OF HUMAN HAND POSITIONS FOR, "ROBOTIC HAND CONTROL Hees, Deparment of tral Enginesing ‘Stanford Universi Palo Alto, CA ‘34305 Abstract Poston contol of mulfingered robotic hands requires complex poston mjcones,detnngsimalanecy moon ttt large number of join "To tech a mulfiegered hand ‘manipulation states, adioral pin wo pin sing Tedious and fails o embody the undesiying purpose onstrants diving motion of the hind. In ths paper we cere 2 meted To ui the himan hand ‘puligeree teaching device. The gorithm = ‘sed on a functional analysis of te aman had a resus ‘in an algebra uansformation of human hand pontons 10 ‘responding postions in a target domnin. The target dla shoul be of lower dimensionality ess depeeat freedom) than the human hand bt shot onsrined any oes way. The ange described herein iten degree of Feedom robotic hand, with for fingers of forint each, ‘The target need pot however behind like” Gevce bet farcase of se, should have a kinematic sete wih poses ‘Siar in funcional to natural poses of the hua ad 1.0 Introduction ‘Among the mos challenging in robots is ‘conrct a rbotc had having capable close to thse of ‘he human hand Several mul-fingered rbot hands have been developed with ti tim (3-4, 8,9), Among the , he Span eeu ewes p< Seurrdsemigd Wy yen Be enforce ray decane by THR Get mig) le SASL Me nate te halve” Wher ne peer or ar un yee Scat rT tu @) lier Poem of eer SOU tt tba po nna etree dea "ic const mane nds tow tersine be snr’ sl chang ht dpe ‘Reapers candor ine ne seve ie rat ‘Re nt ein ie ob an Pater oh ung he enon be ction mer Red Needy Soa" exon al Apne ete anton mae A age Sree iy tea ge cnn “HU lng moa ha suo "rc mint ster of ey inepntent pote ‘needed for T to be full rank is given by i ny = mining, 9) 1f tere are fewer than tis number of pots, the condition umber ofthe wannformtion man is finite, and sal ‘movements ofthe human hand cen cane large moveme ma {Be roboue hand Ths is undeniable since we would Ike ‘Me robo and ansione to be smoot, Even if there are mp = min By) lineal independent poses, the systems of equations in (1) may sil be derdtermined. For instance, suppose is less tha ‘meaning thatthe robo hand hs fewer depees of feedom, than the hora and. The minima aumber of poses or toe full rank is then my = mining) =< y. Hence, fp my the han hand will ave a wider variety of possible poses. Ik a om huab/Sinden grip LD os LD ew huab/tndes/mitle getp 3 References [Eton 3. Mand KJ. Connolly. "A Clasificaion of Manipulative and Movemens Developmental Medicine Child Neurology, pages 283-296, vo. 26, 1984, (2]Golw, 6. HL, and C.F. Van Loan Marrix ‘Conpudations. Bamore, Maryland: The Hons Hopkins University Pres, 1983 (3]Hanafusa, Het al. "A Robot Hand with Blastic Fingers and is Apliestion to Asembly Process.” Proc IFAC Symp. Inform. Contr Prob. Manifact Tech. pages 27-134, 1977 [dfacobsen, S.C. ea. "The UialMAIT Dextrous Hand ‘Work In Progress International Journal of Robotics Researohe Vol 30), 1984 [sJLandsmeer, J. M. F. “Power Grip and Precision “Handling Annals of the Rheumatic Diseases, pages 162-168, 1962 [Napier "Prebeniity and Opposbilty ia the Hands ‘ot Paste "Zool Soe" Lond. Vol. 3, page 119-132, 1961 [M)Oeheds,H, “The Emulation of Human Had Motions by "hDextoss Rotot Hand” Bachelors These. Depart ‘of Hlceucal Englnceing, Pnceon Universi, Phine=ton Ni May 1988. [S)Okade, 7. and 5. Tsuchiya, "On a versatile finger "stem Proceedings of the ih Intemational Somos (on Indra Robo, pages 48-392, Octobe 1987 (0JSatisbury, 3, Ket al. "Articulated Hands: Force ‘Contoland Kinematic sues" Imematonal Journal of oboe Research: Vol-1 (i: pages #1, Sing 1982 [u0jzimmerman, T, Gaeta “DatwGlove Model 2 ‘Operating Manual” VPL Reseach, Ine, Redwood Chy, ORT ioe MAD. Lite lnc, DHM Technic! Specifstion, 1988,