Experiments in assembly using a dexterous hand

Dexterous hands have the ability to grasp arbitrary objects and impart arbitrary motions and forces to those objects. These forces and motions can be coupled, and generalized stiffness of a grasped workpiece, with an associated center of compliance, can be realized. For a given assembly operation, the workpiece stiffness can be specified so that the reaction force guides the assembly. An implementation of object stiffness control using the Salisbury hand is described. Use of the hand in an insertion task is demonstrated with accompanying reaction force data. The assembly was accomplished at insertion speeds up to 75 mm/s