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KINEMATIC ANALYSIS AND PROTOTYPE OF A METAMORPHIC ANTHROPOMORPHIC HAND WITH A RECONFIGURABLE PALM

Research output: Contribution to journalArticle

Guowu Wei, Jian S. Dai, Shuxin Wang, Haifeng Luo

Original languageEnglish
Pages (from-to)459 - 479
Number of pages21
JournalInternational Journal Of Humanoid Robotics
Volume8
Issue number3
DOIs
Publication statusPublished - Sep 2011

King's Authors

Abstract

A novel metamorphic anthropomorphic hand is for the first time introduced in this paper. This robotic hand has a reconfigurable palm that generates changeable topology and augments dexterity and versatility of the hand. Structure design of the robotic hand is presented and based on mechanism decomposition kinematics of the metamorphic anthropomorphic hand is characterized with closed-form solutions leading to the workspace investigation of the robotic hand. With characteristic matrix equation, twisting motion of the metamorphic robotic hand is investigated to reveal both dexterity and manipulability of the metamorphic hand. Through a prototype, grasping and prehension of the robotic hand are tested to illustrate characteristics of the new metamorphic anthropomorphic hand.

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