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dc.contributor.authorGilday, Kieran
dc.contributor.authorHughes, Josie
dc.contributor.authorIida, Fumiya
dc.date.accessioned2022-01-28T16:33:57Z
dc.date.available2022-01-28T16:33:57Z
dc.date.issued2021-03-01
dc.date.submitted2020-06-08
dc.identifier.issn1748-3182
dc.identifier.otherbbabe345
dc.identifier.otherabe345
dc.identifier.otherbb-102417.r1
dc.identifier.urihttps://www.repository.cam.ac.uk/handle/1810/333137
dc.description.abstractThe structure of the human musculo-skeletal systems shows complex passive dynamic properties, critical for adaptive grasping and motions. Through wrist and arm actuation, these passive dynamic properties can be exploited to achieve nuanced and diverse environment interactions. We have developed a passive anthropomorphic robot hand that shows complex passive dynamics. We require arm/wrist control with the ability to exploit these. Due to the soft hand structures and high degrees of freedom during passive-object interactions, bespoke generation of wrist trajectories is challenging. We propose a new approach, which takes existing wrist trajectories and adapts them to changes in the environment, through analysis and classification of the interactions. By analysing the interactions between the passive hand and object, the required wrist motions to achieve them can be mapped back to control of the hand. This allows the creation of trajectories which are parameterized by object size or task. This approach shows up to 86% improvement in grasping success rate with a passive hand for object size changes up to ±50%.
dc.description.sponsorshipEPSRC Doctoral Training Programme Studentship and Arm Ltd (RG99055).
dc.languageen
dc.publisherIOP Publishing
dc.subjectPaper
dc.subjectanthropomorphic hand
dc.subjectcompliant interactions
dc.subjectpassive grasping
dc.subjectwrist control
dc.titleWrist-driven passive grasping: interaction-based trajectory adaption with a compliant anthropomorphic hand.
dc.typeArticle
dc.date.updated2022-01-28T16:33:57Z
prism.issueIdentifier2
prism.publicationNameBioinspir Biomim
prism.volume16
dc.identifier.doi10.17863/CAM.80560
dcterms.dateAccepted2021-02-04
rioxxterms.versionofrecord10.1088/1748-3190/abe345
rioxxterms.versionVoR
rioxxterms.licenseref.urihttps://creativecommons.org/licenses/by/4.0/
dc.contributor.orcidGilday, Kieran [0000-0002-8264-1535]
dc.contributor.orcidHughes, Josie [0000-0001-8410-3565]
dc.contributor.orcidIida, Fumiya [0000-0001-9246-7190]
dc.identifier.eissn1748-3190
pubs.funder-project-idEPSRC (2109088)
cam.issuedOnline2021-03


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