Tipo di tesi
Tesi di laurea specialistica
Titolo
Design Optimization For Grasping And Manipulation Systems: A Synergy-Based Approach
Corso di studi
INGEGNERIA DELLA AUTOMAZIONE
Riassunto (Italiano)
Abstract:Recent robotic and neuro-science studies introduced the concept of synergies as coordinate finger displacements observed in object human hand manipulation tasks. Considering the functionality high level of human hand, a new scenario in manipulation systems to reduce hardware/software complexity and augment functionality. The goal of this work is to show that is possible to obtain synergies with a numeric routine that minimizes an suitable cost index. Some benchmark cases are presented to validate the routine and to choose a more complete cost index, which takes in account the manipulation tasks and grasping forces; finally, the human synergies obtained with a motion acquisition system are compared with the numeric synergies found by the routine within an experimental example.
