PREHENSIUNE ȘI MINIMANIPULARE ÎN ROBOTICĂ-NOI CONTRIBUȚII
GRASPING AND MINIHANDLING IN ROBOTICS - NEW CONTRIBUTIONS

Summary/Abstract: First, the paper presents the general structure of the human hand biosystem, then the significant historical landmarks of the evolution of the study of the human hand and the structural and functional characteristics of the human hand. Grip experimentation for several types of objects is presented. The adaptation of Cutkosky's taxonomy is also presented, through experiments for all the situations taken into account, to which is added the situation of holding between two adjacent fingers and holding firmly with two opposable fingers an object of relatively large dimensions. Similarly, the strong grip, according to Lyons, is experimented. The paper is highlighted by addressing the specific aspects of grips and minimanipulations for which suggestive tests are made, as well as the unitary presentation of the variety of human hand grip cases to substantiate and extend the taxonomy, best known to date, namely the taxonomy of Cutkosky. The aspects of the mathematical modeling of static grip and minimanipulation are presented. Below are the structural and functional characteristics of an anthropomorphic five-finger gripper, for which a prototype was made that was tested for different grip situations, which is controlled with a Motion Leap sensor. Finally, it is recommended to equip human arm robots with anthropomorphic finger grips of the type described to maximize the functionality of human robotic arms.

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