Kinematic Optimization of an Underactuated Anthropomorphic Prosthetic Hand
Ann Marie Votta,Sezen Yağmur Günay,Brian Zylich,Erik Skorina,Raagini Rameshwar,Deniz Erdoğmuş,Cagdas D. Onal,Ann Marie Votta,Sezen Yağmur Günay,Brian Zylich,Erik Skorina,Raagini Rameshwar,Deniz Erdoğmuş,Cagdas D. Onal
The human hand serves as an inspiration for robotic grippers. However, the dimensions of the human hand evolved under a different set of constraints and requirements than that of robots today. This paper discusses a method of kinematically optimizing the design of an anthropomorphic robotic hand. We focus on maximizing the workspace intersection of the thumb and the other fingers as well as maximi...
