Two possible sets of planning variables for human arm movement are point angles and hand position. Although one might expect these possibilities to be mutually exclusive, recently an apparently contradictory set of ...

We have derived a new performance measure, product of minors of the Jacobian matrix, that tells how far kinematically redundant manipulators are from singularity. It was demonstrated that previously used performance ...

This report presents issues relating to the kinematics and control of dexterous robotic hands using the Utah-MIT hand as an illustrative example. The emphasis throughout is on the actual implementation and testing of ...