Task-based Compliance Planning for Multi-fingered Hands

Abstract

Based on the analysis of the stiffness relation between the operational space and the fingertip space of multifingered hands, this paper provides a guideline of task-based compliance planning for multifingered hands. 2D and 3D examples are illustrated to show the characteristics of the task-based stiffness matrix. It is shown that some of coupling stiffness elements cannot be planned arbitrarily due to grasping geometry. Through the analytical results, it is concluded that the operational stiffness matrix should be carefully specified by considering the location of compliance center and the grasp geometry of multifingered hands for successful grasping and manipulation tasks.