Kinematics of Grasping with the Modular Dextrous Hand.

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Date
1989
Author
Loncaric, Josip
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Abstract
The grasping stage of the modular dextrous hand is shown to allow up to 48 ways of realizing a given grasp triangle. A simple geometrical method of identifying the mechanism's singular configurations is described.
URI
http://hdl.handle.net/1903/4881
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