Critical review on the relationship between design variables and performance of dexterous hands: a quantitative analysis
Dexterous hands play vital roles in tasks performed by humanoid robots. For the first time, we quantify the correlation between design variables and the performance of 65 dexterous hands using Cramér’s V. Comprehensive cross-correlation analysis quantitatively reveals how the performance, such as sp...
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2025-01-01
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| Series: | Frontiers in Neurorobotics |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/fnbot.2024.1513458/full |
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| author | Lei Jiang Lei Jiang Lei Jiang Lei Jiang Chaojie Fu Chaojie Fu Chaojie Fu Chaojie Fu Yanhong Liang Yanhong Liang Yanhong Liang Yanhong Liang Yongbin Jin Yongbin Jin Yongbin Jin Yongbin Jin Hongtao Wang Hongtao Wang Hongtao Wang Hongtao Wang |
| author_facet | Lei Jiang Lei Jiang Lei Jiang Lei Jiang Chaojie Fu Chaojie Fu Chaojie Fu Chaojie Fu Yanhong Liang Yanhong Liang Yanhong Liang Yanhong Liang Yongbin Jin Yongbin Jin Yongbin Jin Yongbin Jin Hongtao Wang Hongtao Wang Hongtao Wang Hongtao Wang |
| author_sort | Lei Jiang |
| collection | DOAJ |
| description | Dexterous hands play vital roles in tasks performed by humanoid robots. For the first time, we quantify the correlation between design variables and the performance of 65 dexterous hands using Cramér’s V. Comprehensive cross-correlation analysis quantitatively reveals how the performance, such as speed, weight, fingertip force, and compactness are related to the design variables including degrees of freedom (DOF), structural form, driving form, and transmission mode. This study shows how various design parameters are coupled inherently, leading to compromise in performance metrics. These findings provide a theoretical basis for the design of dexterous hands in various application scenarios and offer new insights for performance optimization. |
| format | Article |
| id | doaj-art-50fb43d18c9541cb8aec8745e516254d |
| institution | Kabale University |
| issn | 1662-5218 |
| language | English |
| publishDate | 2025-01-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Neurorobotics |
| spelling | doaj-art-50fb43d18c9541cb8aec8745e516254d2025-01-30T06:22:14ZengFrontiers Media S.A.Frontiers in Neurorobotics1662-52182025-01-011810.3389/fnbot.2024.15134581513458Critical review on the relationship between design variables and performance of dexterous hands: a quantitative analysisLei Jiang0Lei Jiang1Lei Jiang2Lei Jiang3Chaojie Fu4Chaojie Fu5Chaojie Fu6Chaojie Fu7Yanhong Liang8Yanhong Liang9Yanhong Liang10Yanhong Liang11Yongbin Jin12Yongbin Jin13Yongbin Jin14Yongbin Jin15Hongtao Wang16Hongtao Wang17Hongtao Wang18Hongtao Wang19Center for X-Mechanics, Zhejiang University, Hangzhou, ChinaZJU-Hangzhou Global Scientific and Technological Innovation Center, Zhejiang University, Hangzhou, ChinaState Key Laboratory of Fluid Power and Mechatronic System, Zhejiang University, Hangzhou, ChinaInstitute of Applied Mechanics, Zhejiang University, Hangzhou, ChinaCenter for X-Mechanics, Zhejiang University, Hangzhou, ChinaZJU-Hangzhou Global Scientific and Technological Innovation Center, Zhejiang University, Hangzhou, ChinaState Key Laboratory of Fluid Power and Mechatronic System, Zhejiang University, Hangzhou, ChinaInstitute of Applied Mechanics, Zhejiang University, Hangzhou, ChinaCenter for X-Mechanics, Zhejiang University, Hangzhou, ChinaZJU-Hangzhou Global Scientific and Technological Innovation Center, Zhejiang University, Hangzhou, ChinaState Key Laboratory of Fluid Power and Mechatronic System, Zhejiang University, Hangzhou, ChinaInstitute of Applied Mechanics, Zhejiang University, Hangzhou, ChinaCenter for X-Mechanics, Zhejiang University, Hangzhou, ChinaZJU-Hangzhou Global Scientific and Technological Innovation Center, Zhejiang University, Hangzhou, ChinaState Key Laboratory of Fluid Power and Mechatronic System, Zhejiang University, Hangzhou, ChinaInstitute of Applied Mechanics, Zhejiang University, Hangzhou, ChinaCenter for X-Mechanics, Zhejiang University, Hangzhou, ChinaZJU-Hangzhou Global Scientific and Technological Innovation Center, Zhejiang University, Hangzhou, ChinaState Key Laboratory of Fluid Power and Mechatronic System, Zhejiang University, Hangzhou, ChinaInstitute of Applied Mechanics, Zhejiang University, Hangzhou, ChinaDexterous hands play vital roles in tasks performed by humanoid robots. For the first time, we quantify the correlation between design variables and the performance of 65 dexterous hands using Cramér’s V. Comprehensive cross-correlation analysis quantitatively reveals how the performance, such as speed, weight, fingertip force, and compactness are related to the design variables including degrees of freedom (DOF), structural form, driving form, and transmission mode. This study shows how various design parameters are coupled inherently, leading to compromise in performance metrics. These findings provide a theoretical basis for the design of dexterous hands in various application scenarios and offer new insights for performance optimization.https://www.frontiersin.org/articles/10.3389/fnbot.2024.1513458/fulldexterous handsdesign variablesperformance correlationdegrees of freedomcross-correlation analysis |
| spellingShingle | Lei Jiang Lei Jiang Lei Jiang Lei Jiang Chaojie Fu Chaojie Fu Chaojie Fu Chaojie Fu Yanhong Liang Yanhong Liang Yanhong Liang Yanhong Liang Yongbin Jin Yongbin Jin Yongbin Jin Yongbin Jin Hongtao Wang Hongtao Wang Hongtao Wang Hongtao Wang Critical review on the relationship between design variables and performance of dexterous hands: a quantitative analysis Frontiers in Neurorobotics dexterous hands design variables performance correlation degrees of freedom cross-correlation analysis |
| title | Critical review on the relationship between design variables and performance of dexterous hands: a quantitative analysis |
| title_full | Critical review on the relationship between design variables and performance of dexterous hands: a quantitative analysis |
| title_fullStr | Critical review on the relationship between design variables and performance of dexterous hands: a quantitative analysis |
| title_full_unstemmed | Critical review on the relationship between design variables and performance of dexterous hands: a quantitative analysis |
| title_short | Critical review on the relationship between design variables and performance of dexterous hands: a quantitative analysis |
| title_sort | critical review on the relationship between design variables and performance of dexterous hands a quantitative analysis |
| topic | dexterous hands design variables performance correlation degrees of freedom cross-correlation analysis |
| url | https://www.frontiersin.org/articles/10.3389/fnbot.2024.1513458/full |
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