TY - GEN
T1 - Description and kinematic analysis of the Anthrobot-2 dextrous hand
AU - Vanriper, J.
AU - Ali, M. S.
AU - Kyriakopoulos, K. J.
AU - Stephanou, H. E.
N1 - Publisher Copyright:
© 1992 IEEE.
PY - 1992
Y1 - 1992
N2 - An anthropomorphic five-fingered hand, the Anthrobot-2, is described. It features anatomical consistency with a human hand, giving it special advantages during teleoperation. Each finger has four joints as in the human hand: two at the knuckle, one between the proximal and middle finger segments, and one between the middle and distal finger segments. The thumb has four degrees of freedom, allowing it to emulate human thumb motion. The controlling hardware and the kinematic analysis, including forward and inverse kinematics, are presented. Future research is discussed.
AB - An anthropomorphic five-fingered hand, the Anthrobot-2, is described. It features anatomical consistency with a human hand, giving it special advantages during teleoperation. Each finger has four joints as in the human hand: two at the knuckle, one between the proximal and middle finger segments, and one between the middle and distal finger segments. The thumb has four degrees of freedom, allowing it to emulate human thumb motion. The controlling hardware and the kinematic analysis, including forward and inverse kinematics, are presented. Future research is discussed.
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U2 - 10.1109/ISIC.1992.225107
DO - 10.1109/ISIC.1992.225107
M3 - Conference contribution
AN - SCOPUS:0343047649
T3 - IEEE International Symposium on Intelligent Control - Proceedings
SP - 299
EP - 305
BT - Proceedings of the 1992 IEEE International Symposium on Intelligent Control
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 1992 IEEE International Symposium on Intelligent Control, ISIC 1992
Y2 - 11 August 1992 through 13 August 1992
ER -