Validation of a power grasping algorithm for an anthropomorphic robotic hand on the basis of human grasping action

Abstract

It is generally acknowledged that performing a natural and reliable grasp with a robotic hand is a challenging task not yet completely solved. Further, the robotic hands designed until now do not have the same kinematic characteristics of a human hand, especially regarding the thumb. The main purpose of this paper is to use information obtained from the analysis of the human grasping action for validating and improving a reach-and-grasp algorithm we proposed for determining the optimal hand position for grasping a cylindrical object. Algorithm effectiveness has been tested on a real arm-hand robotic system.