Abstract
Bimanual manipulation is an essential ability in daily human lives, enhancing the one-hand functionality and grasping tolerance ability. The present work focuses on the effects of wrist and finger factors on bimanual precision manipulation abilities regarding the range of workspace and translational distance. Ten participants were asked to bimanually manipulate object under 12 situations, paired with three wrist configurations and four finger combinations. The results show that the wrist configurations and the finger combinations have significant effects on the translational range. Specifically, the involvement of the wrists significantly improves the workspace range of the object by increasing the translational distance in each axis direction. Among them, the growth rate of the translation distance of the sagittal axis and vertical axis is significantly higher than that of the frontal axis. Compared with the other three finger combinations, the translational distances on the frontal axis and vertical axis of the two indexes combination are increased significantly and similarly, suggesting that for bimanual manipulation, the index finger result in an increase in performance. The study has many applications, including developing two-handed robot and novel human augment equipment.
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Acknowledgement
This work was supported in part by the National Natural Science Foundation of China (51905375), the China Post-doctoral Science Foundation Funded Project (2019M651033), Foundation of State Key Laboratory of Robotics and System (HIT) (SKLRS-2019-KF-06), and Peiyang Elite Scholar Program of Tianjin University (2020XRG-0023).
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Liu, Y., Cheng, Q., Wang, W., Ming, D. (2021). Effects of Wrist Configuration and Finger Combination on Translational Range of Bimanual Precision Manipulation. In: Liu, XJ., Nie, Z., Yu, J., Xie, F., Song, R. (eds) Intelligent Robotics and Applications. ICIRA 2021. Lecture Notes in Computer Science(), vol 13015. Springer, Cham. https://doi.org/10.1007/978-3-030-89134-3_19
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