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

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KINEMATIC ANALYSIS AND PROTOTYPE OF A METAMORPHIC ANTHROPOMORPHIC HAND WITH A RECONFIGURABLE PALM. / Wei, Guowu; Dai, Jian S.; Wang, Shuxin; Luo, Haifeng.

In: International Journal Of Humanoid Robotics, Vol. 8, No. 3, 09.2011, p. 459 - 479.

Research output: Contribution to journalArticle

Harvard

Wei, G, Dai, JS, Wang, S & Luo, H 2011, 'KINEMATIC ANALYSIS AND PROTOTYPE OF A METAMORPHIC ANTHROPOMORPHIC HAND WITH A RECONFIGURABLE PALM', International Journal Of Humanoid Robotics, vol. 8, no. 3, pp. 459 - 479. https://doi.org/10.1142/S0219843611002538

APA

Wei, G., Dai, J. S., Wang, S., & Luo, H. (2011). KINEMATIC ANALYSIS AND PROTOTYPE OF A METAMORPHIC ANTHROPOMORPHIC HAND WITH A RECONFIGURABLE PALM. International Journal Of Humanoid Robotics, 8(3), 459 - 479. https://doi.org/10.1142/S0219843611002538

Vancouver

Wei G, Dai JS, Wang S, Luo H. KINEMATIC ANALYSIS AND PROTOTYPE OF A METAMORPHIC ANTHROPOMORPHIC HAND WITH A RECONFIGURABLE PALM. International Journal Of Humanoid Robotics. 2011 Sep;8(3):459 - 479. https://doi.org/10.1142/S0219843611002538

Author

Wei, Guowu ; Dai, Jian S. ; Wang, Shuxin ; Luo, Haifeng. / KINEMATIC ANALYSIS AND PROTOTYPE OF A METAMORPHIC ANTHROPOMORPHIC HAND WITH A RECONFIGURABLE PALM. In: International Journal Of Humanoid Robotics. 2011 ; Vol. 8, No. 3. pp. 459 - 479.

Bibtex Download

@article{79c08b4f11c945b4aecdbf00d78ade19,
title = "KINEMATIC ANALYSIS AND PROTOTYPE OF A METAMORPHIC ANTHROPOMORPHIC HAND WITH A RECONFIGURABLE PALM",
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.",
author = "Guowu Wei and Dai, {Jian S.} and Shuxin Wang and Haifeng Luo",
year = "2011",
month = sep,
doi = "10.1142/S0219843611002538",
language = "English",
volume = "8",
pages = "459 -- 479",
journal = "International Journal Of Humanoid Robotics",
issn = "0219-8436",
publisher = "World Scientific Publishing Co. Pte Ltd",
number = "3",

}

RIS (suitable for import to EndNote) Download

TY - JOUR

T1 - KINEMATIC ANALYSIS AND PROTOTYPE OF A METAMORPHIC ANTHROPOMORPHIC HAND WITH A RECONFIGURABLE PALM

AU - Wei, Guowu

AU - Dai, Jian S.

AU - Wang, Shuxin

AU - Luo, Haifeng

PY - 2011/9

Y1 - 2011/9

N2 - 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.

AB - 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.

U2 - 10.1142/S0219843611002538

DO - 10.1142/S0219843611002538

M3 - Article

VL - 8

SP - 459

EP - 479

JO - International Journal Of Humanoid Robotics

JF - International Journal Of Humanoid Robotics

SN - 0219-8436

IS - 3

ER -

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