Guideline for designing haptic master hands based on dynamic Multi-fingered Manipulability

In this paper we apply the concept of dynamic manipulability measure to multi-fingered hands and propose Dynamic Multi-fingered Manipulability measure. The proposed measure considers the internal force and the dynamics of a grasped object as well as the finger dynamics. We then extend Dynamic Multi-fingered Manipulability to a guideline for designing haptic master hands or master-slave hands. Based on the proposed guideline, several joint configurations are evaluated and an optimal link length is determined.