Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Design method for an anthropomorphic hand able to gesture and grasp   This paper presents a numerical method to conceive and design the kinematic
model of an anthropomorphic robotic hand used for gesturing and grasping. In
literature, there are few numerical methods for the finger placement of
human-inspired robotic hands. In particular, there are no numerical methods,
for the thumb placement, that aim to improve the hand dexterity and grasping
capabilities by keeping the hand design close to the human one. While existing
models are usually the result of successive parameter adjustments, the proposed
method determines the fingers placements by mean of empirical tests. Moreover,
a surgery test and the workspace analysis of the whole hand are used to find
the best thumb position and orientation according to the hand kinematics and
structure. The result is validated through simulation where it is checked that
the hand looks well balanced and that it meets our constraints and needs. The
presented method provides a numerical tool which allows the easy computation of
finger and thumb geometries and base placements for a human-like dexterous
robotic hand.

30
The categories of this paper are: q-alg
21
The categories of this paper are: adap-org
26
The categories of this paper are: bayes-an
37
The categories of this paper are: supr-con
3
The categories of this paper are: physics
23
The categories of this paper are: solv-int
4
The categories of this paper are: cond-mat
31
The categories of this paper are: ao-sci
18
The categories of this paper are: econ
15
The categories of this paper are: nucl-ex
25
The categories of this paper are: patt-sol
28
The categories of this paper are: alg-geom
22
The categories of this paper are: chao-dyn
11
The categories of this paper are: hep-lat
27
The categories of this paper are: comp-gas
16
The categories of this paper are: stat