NRI Small: Collaborative Research: A Design Methodology for Multi-Fingered Robotic Hands with Second Order Kinematic Constraints

The goal of this research is to develop a systematic methodology for the design of multi-fingered robotic hands and other grasping devices for a desired kinematic task. The task is defined as positions and higher motion derivatives of the fingers, with accelerations related to the contact geometry at the fingertips for grasping and manipulation. The target is to develop multi-finger grasping devices for human-robot interaction and anthropomorphic tasks. The developed methodology will result in a general tool for the design of any kind of multiple-finger grasping devices.

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