Generation of fingering motions by robotic fingers using morphological characteristics of human thumb

Ji Hun Bae, Suguru Arimoto, Morio Yoshida, Ryuta Ozawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

The human thumb is a digit playing crucial roles among all digits used for object manipulation. The special feature of the thumb termed as pad-opposition with four other fingers makes human precision manipulation possible, and during four other fingers dexterously manipulate an object the thumb functions as a role of stably supporting other's manipulating motions within the pad-opposition. In various characteristics of the thumb, this paper concentrates upon the large radius of pad curvature of the thumb compared with those of four other fingers. In order to show the influence of the large pad curvature, it is shown that reiterated fingering motions can be easily generated by a pair of robotic fingers with different pad curvatures by using a sensory-feedback. It is also shown from computer simulations and experiments that the pad curvature automatically distinguishes roles of the thumb and other fingers. It is finally claimed that the thumb plays a crucial role in enhancement of dexterity and stability in such a implicit manner that it helps the other opposite finger with less pad curvature to make a swift rolling movement that can sophisticatedly control movements of the object.

Original languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages2457-2463
Number of pages7
DOIs
Publication statusPublished - 1 Dec 2005
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB, Canada
Duration: 2 Aug 20056 Aug 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Conference

ConferenceIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CountryCanada
CityEdmonton, AB
Period2/08/056/08/05

Keywords

  • Human thumb
  • Radius of finger pad curvature
  • Robotic pinching
  • Sensory-feedback

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    Bae, J. H., Arimoto, S., Yoshida, M., & Ozawa, R. (2005). Generation of fingering motions by robotic fingers using morphological characteristics of human thumb. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS (pp. 2457-2463). [1545345] (2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS). https://doi.org/10.1109/IROS.2005.1545345