Multi-finger robotic hands are the main robotic invention for providing assistive movement therapy in hand rehabilitation. In this paper, the concept of task priority is adopted in order to solve the redundancy resolution of a robotic hand. The redundancy parameter has been used to design the inverse kinematic model in order to determine the joint angles when the finger moves to perform the initial subtask of tracing the desired trajectory while considering the secondary subtask of increasing the instantaneous manipulability. Five different human subjects performed the experimentation where the index finger and thumb are allowed to follow the three desired motion trajectories. Markers are placed on the finger joints in order to track the motion and obtain the finger joint angles. Further, the experimental joint angles are compared with those obtained from inverse kinematics. The index finger and thumb behaviour is analysed based on the redundancy resolution scheme. It has been observed that the optimized root-mean-square error remains insignificant of the different subjects performing the motion and the type of motion trajectories adopted for the index finger as well as the thumb. Thereafter, the proposed scheme is applied to a four-finger tendon-actuated robotic hand and it has been observed that the scheme can be applied to solve the redundancies of any robotic hand.

多指机器人手是在手康复中提供辅助运动疗法的主要机器人发明。本文采用任务优先级的概念来解决机械手的冗余度。冗余参数已用于设计逆运动学模型，以便确定手指移动以执行跟踪所需轨迹的初始子任务，同时考虑增加瞬时可操作性的第二子任务时的关节角度。五个不同的人类受试者进行了实验，其中食指和拇指被允许遵循三个所需的运动轨迹。将标记放置在手指关节上，以跟踪运动并获取手指关节角度。进一步，将实验关节角度与从逆运动学获得的角度进行比较。基于冗余解决方案来分析食指和拇指的行为。已经观察到，优化的均方根误差对于执行运动的不同对象以及食指和拇指采用的运动轨迹的类型仍然无关紧要。此后，将所提出的方案应用于四指腱驱动的机械手，并且已经观察到该方案可以用于解决任何机械手的冗余。已经观察到，优化的均方根误差对于执行运动的不同对象以及食指和拇指采用的运动轨迹的类型仍然无关紧要。此后，将所提出的方案应用于四指腱驱动的机械手，并且已经观察到该方案可以用于解决任何机械手的冗余。已经观察到，优化的均方根误差对于执行运动的不同对象以及食指和拇指采用的运动轨迹的类型仍然无关紧要。此后，将所提出的方案应用于四指腱驱动的机械手，并且已经观察到该方案可以用于解决任何机械手的冗余。