Articulated Hands

TLDR

Kinematic and control challenges of articulated, multifinger mechanical hands are examined. The authors present hand designs with specific mobility characteristics, define accuracy points in the workspace, optimize the Stanford‑JPL hand dimensions, and describe position and force control architectures that address internal forces. Preliminary results for the joint‑torque subsystem used in the hand controller are presented.

Abstract

Kinematic and control issues are discussed in the context of an articulated, multifinger mechanical hand. Hand designs with particular mobility properties are illustrated, and a definition of accuracy points within manipulator workspace is given. Optimization of tlte physical dimensions of the Stanford-JPL hand is described. Several architectures for position and force control of this multiloop mechanism are described, including a way of dealing with the internal forces inherent in such systems. Preliminary results are shown for the joint torque subsystem used in the hand controller.