2026-09-19T20:07:21Zhttps://dspace.mit.edu/server/oai/requestoai:dspace.mit.edu:1721.1/545422022-01-13T07:54:36Zcom_1721.1_7582com_1721.1_7581col_1721.1_131024
H. Harry Asada.
Wikman, Sarah Jane
Massachusetts Institute of Technology. Dept. of Mechanical Engineering.
Massachusetts Institute of Technology. Department of Mechanical Engineering
2010-04-28T16:58:50Z
2010-04-28T16:58:50Z
2009
2009
http://hdl.handle.net/1721.1/54542
566032913
Thesis (S.B.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2009.
Cataloged from PDF version of thesis.
Includes bibliographical references (p. 16).
Many robotic hands have individually driven joints, which is both energy inefficient and complicated to control. An alternative method includes employing only one motor to control multiple joints. Investigating humanoid hand movements used in everyday tasks, graduate students working with Professor Asada discovered through Principal Component Analysis that a majority of these motions can be approximated by a grasping motion. Implementing PCA results on a humanoid robotic hand yields an inter-finger coordinated motion in which each of the four fingers closes towards the palm and each individual joint's velocity is linearly proportional to the others. The coordination is achieved through a system of pulleys with different radii. The cables used in conjunction with these pulleys, emulating tendons, will be driven by a DC motor for simple control of a complex hand mechanism. The thumb is excluded from this system as it functions differently from the remaining digits.
by Sarah Jane Wikman.
S.B.
16 p.
eng
Massachusetts Institute of Technology
M.I.T. theses are protected by
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http://dspace.mit.edu/handle/1721.1/7582
Mechanical Engineering.
Inter-fingercoordinated DC motor driven grasping robotic hand
Thesis
application/pdf
Publication
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unknown
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<Abstract>Many robotic hands have individually driven joints, which is both energy inefficient and complicated to control. An alternative method includes employing only one motor to control multiple joints. Investigating humanoid hand movements used in everyday tasks, graduate students working with Professor Asada discovered through Principal Component Analysis that a majority of these motions can be approximated by a grasping motion. Implementing PCA results on a humanoid robotic hand yields an inter-finger coordinated motion in which each of the four fingers closes towards the palm and each individual joint's velocity is linearly proportional to the others. The coordination is achieved through a system of pulleys with different radii. The cables used in conjunction with these pulleys, emulating tendons, will be driven by a DC motor for simple control of a complex hand mechanism. The thumb is excluded from this system as it functions differently from the remaining digits.</Abstract>
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