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05/12/2021 Humans use all surfaces of the hand for contact-rich manipulation. Robot hands, in contrast, typically use only the fingertips, which can limit dexterity. In a new study from the lab of Aaron Dollar, professor of mechanical engineering & materials science & computer science, researchers took a non-traditional approach to creating a new design for robotic hands.  The research team - graduate students Walter Bircher and Andrew Morgan, and Dollar - designed a two-fingered dexterous hand. Known as “Model W,” it was inspired by the high levels of dexterity seen in humans’ hand mo...

Fig. 2 Simulation results from the design space search. Each shaded square represents a unique hand design. Each hand topology is represented graphically, with arrows drawn to indicate revolute and prismatic joints. Design space plots show how manipulability varies with parameters p (palm width), ϕ (fixed prismatic joint angle), and d (distal link length) for 14 kinematic topologies. ( A) The RR topology is shown next to the manipulability scale ( H from Eq. 10), which goes from 0 (cannot manipulate in all directions) to 1 (best manipulability for all objects). ( B) The manipulability...