Orientation and Workspace Analysis of the Multifingered Metamorphic Hand-Metahand
This paper introduces for the first time a metamorphic palm and presents a novel multifingered hand, known as Matahand, with a foldable and flexible palm that makes the hand adaptable and reconfigurable. The orientation and pose of the new robotic hand are enhanced by additional motion of the palm,...
| Main Authors: | , , |
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| Format: | Journal Article |
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IEEE Press
2009
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| Online Access: | http://hdl.handle.net/20.500.11937/36329 |
| _version_ | 1848754738725650432 |
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| author | Dai, J. Wang, D. Cui, Lei |
| author_facet | Dai, J. Wang, D. Cui, Lei |
| author_sort | Dai, J. |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | This paper introduces for the first time a metamorphic palm and presents a novel multifingered hand, known as Matahand, with a foldable and flexible palm that makes the hand adaptable and reconfigurable. The orientation and pose of the new robotic hand are enhanced by additional motion of the palm, and workspace of the robotic fingers is complemented with the palm motion. To analyze this enhanced workspace, this paper introduces finger-orientation planes to relate the finger orientation to palm various configurations. Normals of these orientation planes are used to construct a Gauss map. Adding an additional dimension, a 4-D ruled surface is generated to illustrate orientation and pose change of the hand, and an orientation–pose manifold is developed from the orientation–pose ruled surface. The orientation and workspace analysis are further developed by introducing a triangular palm workspace that evolves into a helical surface and is further developed into a 4-D representation. Simulations are presented to illustrate the characteristics of this new dexterous hand. |
| first_indexed | 2025-11-14T08:45:11Z |
| format | Journal Article |
| id | curtin-20.500.11937-36329 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T08:45:11Z |
| publishDate | 2009 |
| publisher | IEEE Press |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-363292017-09-13T15:23:05Z Orientation and Workspace Analysis of the Multifingered Metamorphic Hand-Metahand Dai, J. Wang, D. Cui, Lei palm pose orientation metamorphic mechanisms Metahand workspace Analysis Gauss map dexterous hand multifingered hand This paper introduces for the first time a metamorphic palm and presents a novel multifingered hand, known as Matahand, with a foldable and flexible palm that makes the hand adaptable and reconfigurable. The orientation and pose of the new robotic hand are enhanced by additional motion of the palm, and workspace of the robotic fingers is complemented with the palm motion. To analyze this enhanced workspace, this paper introduces finger-orientation planes to relate the finger orientation to palm various configurations. Normals of these orientation planes are used to construct a Gauss map. Adding an additional dimension, a 4-D ruled surface is generated to illustrate orientation and pose change of the hand, and an orientation–pose manifold is developed from the orientation–pose ruled surface. The orientation and workspace analysis are further developed by introducing a triangular palm workspace that evolves into a helical surface and is further developed into a 4-D representation. Simulations are presented to illustrate the characteristics of this new dexterous hand. 2009 Journal Article http://hdl.handle.net/20.500.11937/36329 10.1109/TRO.2009.2017138 IEEE Press fulltext |
| spellingShingle | palm pose orientation metamorphic mechanisms Metahand workspace Analysis Gauss map dexterous hand multifingered hand Dai, J. Wang, D. Cui, Lei Orientation and Workspace Analysis of the Multifingered Metamorphic Hand-Metahand |
| title | Orientation and Workspace Analysis of the Multifingered Metamorphic Hand-Metahand |
| title_full | Orientation and Workspace Analysis of the Multifingered Metamorphic Hand-Metahand |
| title_fullStr | Orientation and Workspace Analysis of the Multifingered Metamorphic Hand-Metahand |
| title_full_unstemmed | Orientation and Workspace Analysis of the Multifingered Metamorphic Hand-Metahand |
| title_short | Orientation and Workspace Analysis of the Multifingered Metamorphic Hand-Metahand |
| title_sort | orientation and workspace analysis of the multifingered metamorphic hand-metahand |
| topic | palm pose orientation metamorphic mechanisms Metahand workspace Analysis Gauss map dexterous hand multifingered hand |
| url | http://hdl.handle.net/20.500.11937/36329 |