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<b>Abstract</b>— <p>The article considers grasp configuration for an anthropomorphic bionic hand using numerical methods for minimizing the error function based on a mathematical model of the hand. A grasp quality criterion is proposed: the sum of the distances from the grasped object to the structural elements of the phalanges of the fingers. The effectiveness of the proposed method is verified by means of modeling a solid model of the hand in MATLAB Simulink.</p>

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Grasp Configuration for an Anthropomorphic Bionic Hand

  • 期刊论文

  • 发表日期：

    2025年1月1日

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  • V. F. Bez’’yazychnyi,
  • A. V. Yudin,
  • E. A. Eliseichev,
  • M. V. Pankratov,
  • V. V. Mikhailov

摘要

Abstract—

The article considers grasp configuration for an anthropomorphic bionic hand using numerical methods for minimizing the error function based on a mathematical model of the hand. A grasp quality criterion is proposed: the sum of the distances from the grasped object to the structural elements of the phalanges of the fingers. The effectiveness of the proposed method is verified by means of modeling a solid model of the hand in MATLAB Simulink.