Title :
A successful multifingered hand design-the case of the raccoon
Author_Institution :
Dept. of Electr. & Comput. Eng., Rice Univ., Houston, TX, USA
Abstract :
In this paper, we consider the case of the raccoon, which has a dextrous five fingered hand and is renowned for its skills in dextrous manipulation. The kinematics of the raccoon hand are examined, and some critical differences and deficiencies with respect to the human hand design noted. We show how the raccoon successfully employs novel manipulation strategies in cases where the kinematics of its hands appear limited. Implications for the design and application of dextrous robotic hands are discussed
Keywords :
control system synthesis; manipulator dynamics; manipulator kinematics; dextrous manipulator; kinematics; multifingered hand; raccoon; robotic hands; Animals; Computer aided software engineering; Earth; Grasping; Humans; Intelligent robots; Kinematics; Manipulators; Mouth; Robots; Thumb;
Conference_Titel :
Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots', Proceedings. 1995 IEEE/RSJ International Conference on
Conference_Location :
Pittsburgh, PA
Print_ISBN :
0-8186-7108-4
DOI :
10.1109/IROS.1995.526158