A Bio-Mimetic Joint Motion Planning for Humanoid Fingers: Practical Analysis

This paper implements a bio-mimetic joint motion planning strategy for robotic finger manipulations and shows its practical effectiveness in typical finger motions. The main feature of the proposed approach is to utilize an empirical model approximately made by the function of human finger motion for planning the joint trajectory of a robotic finger. In fact, the empirical model coordinates an interphalangeal motion in a robotic finger. By employing the joint motion planning method, it is possible to assign an adequate initial finger configuration and also plan effectively its real-time joint configurations during an operation. The practical merits of the motion planning strategy for finger operations will be discussed by experimental works.