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• W2033535982 abstract "Abstract Kinematics of grasping/manipulation by a multi-fingered hand where multi-fingersurfaces are in contact with an object are discussed (GMMFS problem). There are many research articles about GMMFS problems, but most of them discuss the case of fingertip contacts. In this paper the following results are obtained. 1. (1) GMMFS problems are classified to direct kinematics, inverse kinematics for grasping and manipulation, which are peculiar to the fingersurface contact. In each case the problems are formulated. 2. (2) For the manipulation of an object, kinematic relationship between object and fingerjoint motions are analysed in the case when the contact motion is pure rolling (PR), twist rolling (TR), and slide rolling (SR). In each case the number of fingers and degree of freedom of fingers necessary to grasp and manipulate the object are shown. 3. (3) Manipulation kinematics is characterized by the equations for incremental variations of object motion and finger motion, mediated by contact point variations, unlike the manipulation of manipulator arm kinematics where the equations are expressed by absolute displacement. 4. (4) Computer simulation system of GMMFS is developed, and some examples of grasping and manipulation using the above-mentioned formulation for various conditions are shown." @default.
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• W2033535982 date "1997-02-01" @default.
• W2033535982 modified "2023-10-01" @default.
• W2033535982 title "Analysis and simulation of grasping/manipulation by multi-fingersurface" @default.
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• W2033535982 doi "https://doi.org/10.1016/s0094-114x(96)00054-7" @default.
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