{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T21:53:36Z","timestamp":1767650016784,"version":"build-2065373602"},"reference-count":17,"publisher":"SAGE Publications","issue":"5","license":[{"start":{"date-parts":[[1991,10,1]],"date-time":"1991-10-01T00:00:00Z","timestamp":686275200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1991,10]]},"abstract":"<jats:p> This work examines the properties of the manifold gener ated as the configuration space of the linkage used for each finger of the Salisbury hand. We begin with an exhaustive catalog of design types for the finger based on an analysis of its branch loci. We then study the condi tions under which the forward kinematic map becomes singular. These singularities define a submanifold that partitions the linkage's configuration space into a number of open sheets, each of which maps diffeomorphically onto a corresponding open region in the finger's reach able work space. Next we consider the determinant func tion of the finger's Jacobian matrix. The stationary points of this function reveal those configurations where the Jacobian determinant is a maximum. The Jacobian deter minant can be thought of as an oriented volume in the tangent space to the finger's work space, and the orienta tion of this volume reveals the most favorable direction(s) for effecting tip motion or, reciprocally, for applying tip forces. From this we establish a simple criterion that can be used to find the optimal grasp configuration(s) for a given finite displacement of the workpiece. <\/jats:p>","DOI":"10.1177\/027836499101000501","type":"journal-article","created":{"date-parts":[[2007,3,11]],"date-time":"2007-03-11T07:05:13Z","timestamp":1173596713000},"page":"439-453","source":"Crossref","is-referenced-by-count":12,"title":["A Dexterity Measure for the Kinematic Control of a Multifinger, Multifreedom Robot Hand"],"prefix":"10.1177","volume":"10","author":[{"given":"P.R.","family":"McAree","sequence":"first","affiliation":[{"name":"Robotics Laboratory Department of Mechanical and Manufacturing Engineering The University of Melbourne Parkville, Victoria, Australia, 3052"}]},{"given":"A.E.","family":"Samuel","sequence":"additional","affiliation":[{"name":"Robotics Laboratory Department of Mechanical and Manufacturing Engineering The University of Melbourne Parkville, Victoria, Australia, 3052"}]},{"given":"K.H.","family":"Hunt","sequence":"additional","affiliation":[{"name":"Robotics Laboratory Department of Mechanical and Manufacturing Engineering The University of Melbourne Parkville, Victoria, Australia, 3052"}]},{"given":"C.G.","family":"Gibson","sequence":"additional","affiliation":[{"name":"Department of Pure Mathematics The University of Liverpool Liverpool, England"}]}],"member":"179","published-online":{"date-parts":[[1991,10,1]]},"reference":[{"volume-title":"Kinematic analysis and design of redundant robotic manipulators","year":"1988","author":"Burdick, J.W.","key":"atypb1"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4684-6891-5"},{"volume-title":"Proceedings of the 7th World Congress","author":"Gibson, C.G.","key":"atypb3"},{"key":"atypb4","doi-asserted-by":"publisher","DOI":"10.1016\/0094-114X(89)90017-7"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1007\/BF00051348"},{"volume-title":"Differential Topology","year":"1974","author":"Guillemin, V.","key":"atypb6"},{"volume-title":"Kinematic Geometry of Mechanisms","year":"1978","author":"Hunt, K.H.","key":"atypb7"},{"journal-title":"Int. J. Robot. Res","year":"1991","author":"Hunt, K.H.","key":"atypb8"},{"key":"atypb9","doi-asserted-by":"publisher","DOI":"10.1115\/1.3267432"},{"key":"atypb10","doi-asserted-by":"publisher","DOI":"10.1177\/027836498600400401"},{"key":"atypb11","doi-asserted-by":"publisher","DOI":"10.1177\/027836498700600206"},{"key":"atypb12","doi-asserted-by":"publisher","DOI":"10.1017\/CBO9780511623943"},{"volume-title":"Plane Algebraic Curves","year":"1955","author":"Primrose, E.J.F.","key":"atypb13"},{"volume-title":"Kinematic and force analysis of articulated hands","year":"1982","author":"Salisbury, J.K.","key":"atypb14"},{"key":"atypb15","volume-title":"Theory of Equations","author":"Turnbull, H.W.","year":"1957","edition":"5"},{"volume-title":"Robotics Research: The Second International Symposium","author":"Uchiyama, M.","key":"atypb16"},{"key":"atypb17","unstructured":"Yoshikawa, T. 1984. Analysis and control of robot manipulators with redundancy . In Brady, M., and Paul, R. (eds.): Robotics Research: The First International Symposium. Cambridge, Mass.: MIT Press, pp. 735-747."}],"container-title":["The International Journal of Robotics Research"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499101000501","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/journals.sagepub.com\/doi\/pdf\/10.1177\/027836499101000501","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,28]],"date-time":"2025-01-28T05:07:55Z","timestamp":1738040875000},"score":1,"resource":{"primary":{"URL":"https:\/\/journals.sagepub.com\/doi\/10.1177\/027836499101000501"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1991,10]]},"references-count":17,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1991,10]]}},"alternative-id":["10.1177\/027836499101000501"],"URL":"https:\/\/doi.org\/10.1177\/027836499101000501","relation":{},"ISSN":["0278-3649","1741-3176"],"issn-type":[{"type":"print","value":"0278-3649"},{"type":"electronic","value":"1741-3176"}],"subject":[],"published":{"date-parts":[[1991,10]]}}}