# US 10,970,428 B2 · Method of providing performance indicators of robot hand and method of optimizing structure of robot hand > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,970,428 B2 - Document ID: US10970428B2 - Status: Granted - Kind: B2 - Application number: 15/088,430 - Filed: 2016-04-01 - Published: 2016-10-06 - Granted: 2021-04-06 - Earliest claimed: 2015-04-01 - Assignees: Research & Business Foundation Sungkyunkwan University - Applicants: Research and Business Foundation Sungkyunkwan University - Inventors: Hyouk Ryeol Choi; Gi Tae Kang; Anna Kim; Yong Bum Kim; Won Suk You; Gun Kyu Yee; YoungHun Lee - Web page: https://patentgrep.com/patent/US10970428B2 ## CPC - B25J 15/10: with three or more finger members {(B25J15/0009 takes precedence)} - B25J 15/0009: {comprising multi-articulated fingers, e.g. resembling a human hand} - B25J 19/007: {Means or methods for designing or fabricating manipulators} - G06F 30/17: Mechanical parametric or variational design - G06F 30/20: Design optimisation, verification or simulation (optimisation, verification or simulation of circuit designs G06F30/30) - G05B 2219/39539: Plan hand shape - G06F 2111/06: Multi-objective optimisation, e.g. Pareto optimisation using simulated annealing [SA], ant colony algorithms or genetic algorithms [GA] - G06N 3/126: Evolutionary algorithms, e.g. genetic algorithms or genetic programming - Y10S 901/30: End effector - B25J: MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES ({manipulators specially adapted for use in surgery A61B34/70; manipulators used in cleaning hollow articles B08B9/04}; manipulators associated with rolling mills B21B39/20; manipulators associated with forging machines B21J13/10; {manipulators associated with picking-up and placing mechanisms B23P19/007}; means for holding wheels or parts thereof B60B30/00; {vehicles with ground-engaging propulsion means, e.g. walking members B62D57/02, B62D57/032; devices for picking-up and depositing articles or materials between conveyors B65G47/90, B65G47/91; manipulators with gripping or holding means for transferring packages B65H67/065}; cranes B66C; {manipulators used in the protection or supervision of pipe-line installations F17D5/00; walking equipment adapted for nuclear steam-generators F22B37/006}; manipulators specially adapted for, or associated with, nuclear reactors G21C; {apparatus used for handling wafers during manufacture or treatment of semiconductor H10P72/50}) - G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N) - G05B: CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS (systems for controlling or regulating non-electric variables G05D; systems for regulating electric or magnetic variables G05F; control devices or systems insofar as characterised by mechanical features only G05G) - G06N: COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS - Y10S: TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS ## Abstract Disclosed is a method of providing performance indicators of a robot hand and a method of optimizing a structure of the robot hand, and more particularly to a method of providing performance indicators of a robot hand, in which the performance indicators are to objectively compare a plurality of robot hands with respect to performance, and a method of optimizing a structure of the robot hand, in which engineering design criteria are provided to determine essential factors in developing the structure of the robot hand. ## Claims ### Claim 1 A processor-implemented method of optimizing a structure of a robot hand, comprising: receiving setting values for a model of a robot hand structure; determining movement of a thumb tip of a thumb and respective finger tips of fingers involved in the model based on the received setting values; determining performance indicators through interactivity of fingers (IF) that reflects a volume range where the thumb tip and two of the finger tips can meet one another; and optimizing the structure of the robot hand based on the determined performance indicators, wherein the setting values comprise an angle value obtained by rotating the thumb at a start point of the thumb, wherein the determining of the movement comprises determining a distance between the start point of the thumb and a start point of a finger among the fingers, and wherein the optimizing of the structure of the robot hand comprises manufacturing the robot hand based on the determined performance indicators. ### Claim 2 (depends on 1) The method according to claim 1, wherein the interactivity of fingers (IF) are the performance indicators that reflect the volume range where the thumb tip and the two of the finger tips comprise the thumb tip, an arbitrary finger tip among the finger tips, and a finger tip among the finger tips that is adjacent to the arbitrary finger tip. ### Claim 3 (depends on 1) The method according to claim 1, wherein the setting values comprise: finger length setting values for information about lengths of the thumb tip and the finger tips involved in the model; thumb start coordinates for the start point of the thumb involved in the model; angle setting values for information about an area where the thumb and the fingers involved in the model of the robot hand structure are movable; and joint movable range values for movable ranges of joints respectively corresponding to the thumb and the fingers involved in the model of the robot hand structure. ### Claim 4 (depends on 3) The method according to claim 3, wherein the receiving of the setting values comprises receiving a length value of the thumb and length values of the fingers when the fingers in the model have the same length, and receiving a length value of the thumb and an average length value of the fingers as the finger length setting values when the fingers in the model are different in length. ### Claim 5 (depends on 4) The method according to claim 4, wherein the joint movable range values comprise: a thumb proximal-interphalangeal-joint lateral-movable-range angle value indicating a movable range where a proximal interphalangeal joint of a thumb is movable laterally with respect to a metacarpal front in the model; a thumb proximal-interphalangeal-joint front-movable-range angle value indicating a movable range where the proximal interphalangeal joint of the thumb is movable toward the metacarpal; a thumb middle-interphalangeal-joint front-movable-range angle value indicating a movable range where a middle interphalangeal joint of the thumb is movable toward the metacarpal; a thumb distal-interphalangeal-joint front-movable-range angle value indicating a movable range where a distal interphalangeal joint of the thumb is movable toward the metacarpal; a finger proximal-interphalangeal-joint lateral-movable-range angle value indicating a movable range where a proximal interphalangeal joint of each finger is movable laterally; a finger proximal-interphalangeal-joint front-movable-range angle value indicating a movable range where the proximal interphalangeal joint of each finger is movable toward the metacarpal; and a finger middle and distal-interphalangeal-joint front-movable-range angle value indicating a movable range where the distal interphalangeal joint and the middle interphalangeal joint of each of the fingers are movable toward the metacarpal when the distal interphalangeal joint of the finger is designed to be movable depending on the middle interphalangeal joint, or a finger middle-interphalangeal-joint front-movable-range angle value indicating a movable range where the middle interphalangeal joint of each of the fingers is movable toward the metacarpal and a finger distal-interphalangeal-joint front-movable-range angle value indicating a movable range where the distal interphalangeal joint of each of the fingers is movable toward the metacarpal when the distal interphalangeal joint of the finger is designed to be movable independently of the middle interphalangeal joint. ### Claim 6 (depends on 3) The method according to claim 3, wherein the thumb start coordinates comprise x, y, and z coordinates of the start point of the thumb in a spatial coordinate system. ### Claim 7 (depends on 6) The method according to claim 6, wherein the angle setting values comprise: angle values between adjacent fingers among the fingers with respect to a metacarpal; an angle value obtained by rotating the thumb with respect to an x axis at the start point of the thumb; an angle value obtained by rotating the thumb with respect to a y axis at the start point of the thumb on the spatial coordinate system; and an angle value obtained by rotating the thumb with respect to a z axis at the start point of the thumb on the spatial coordinate system. ### Claim 8 (depends on 1) The method according to claim 1, wherein the determining of the movement further comprises determining the distance between the start point of the thumb and the start point of the finger based on x, y, and z coordinates of the start point of the thumb, length values of remaining fingers among the fingers, and angle values between adjacent fingers among the fingers with respect to a metacarpal, which are included in the received setting values. ### Claim 9 (depends on 1) The method according to claim 1, wherein the interactivity of fingers (IF) is expressed as follows: IF = ∑ i = 1 n - 1 ⁢ w i ⁢ d i ( n - 1 ) ⁢ θ total ⁢ L t 2 ⁢ L f 2 ⁢ ( ∑ i = 1 n - 1 ⁢ w i ⁢ v i + k ⁢ ∑ i = 1 n - 2 ⁢ w i ⁢ w i + 1 ⁢ v ii + 1 ) where, IF is the interactivity value among the thumb and the fingers; Wi is a weight coefficient of an ith finger previously stored in a storage as a value previously assigned to the ith finger and ranging from 0 to 1; di is a distance between the start point of the thumb and the start point of the ith finger; n is a number of thumb and fingers; n−1 is a number of fingers; θtotal is a total of movable range angle values of joints included in the fingers that are controllable in the model of the robot hand structure; Lt is a length of the thumb as a value included in the received setting values; Lf is a length of the fingers as a value included in the setting values; Vi is a volume range where the thumb tip and an ith finger tip can meet; Wi+1 is a weight coefficient of an (i+1)th finger previously stored in the storage as a value previously assigned to the (i+1)th finger that is adjacent to the ith finger and ranging from 0 to 1; Vii+1 is a volume range where the thumb tip, the ith finger tip, and an (i+1)th finger tip that is adjacent to the ith finger can meet one another; and k is a compensation coefficient previously stored in the storage to adjust an effect level of Vi and Vii+1. ### Claim 10 (depends on 1) The method according to claim 1, wherein the optimizing of the structure of the physical robot hand comprises manufacturing the physical robot hand based on the determined performance indicators. ### Claim 11 A processor-implemented method of optimizing a structure of robot manipulators, comprising: receiving setting values for a model of a manipulator structure of a robot that has three or more manipulators; determining movement of respective manipulator tips of the manipulators involved in the model based on the received setting values; determining performance indicators through interactivity of fingers (IF) that reflects a volume range where three of the manipulator tips can meet one another; and optimizing the structure of the robot manipulators based on the determined performance indicators, wherein the setting values comprise an angle value obtained by rotating a first manipulator, among the manipulators, at a start point of the first manipulator, wherein the determining of the movement comprises determining a distance between the start point of the first manipulator and a start point of a second manipulator among the manipulators, and wherein the optimizing of the structure of the robot manipulators comprises manufacturing the robot manipulators based on the determined performance indicators. ### Claim 12 A processor-implemented method of optimizing a structure of a robot hand, comprising: receiving initial setting values for a model of a robot hand structure; determining initial interactivity values between a thumb and fingers through interactivity of fingers (IF) that reflects a volume range where a thumb tip of the thumb and two of respective finger tips of the fingers can meet one another, based on the received initial setting values; determining a plurality of secondary interactivity values based on the initial interactivity values and the initial setting values by an optimization algorithm; extracting a maximum secondary interactivity value among the plurality of secondary interactivity values; determining optimized design values based on setting values of the extracted maximum secondary interactivity value; and optimizing the structure of the robot hand based on the determined optimized design values, wherein the initial setting values comprise an angle value obtained by rotating the thumb at a start point of the thumb, wherein the determining of the initial interactivity values comprises determining a finger movement that refers to a workspace where the thumb and the fingers provided in the model are movable, wherein the workspace is determined by determining a distance between the start point of the thumb and a start point of a finger among the fingers, and wherein the optimizing of the structure of the robot hand comprises manufacturing the robot hand based on the determined optimized design values. ### Claim 13 (depends on 12) The method according to claim 12, wherein the interactivity of fingers (IF) are performance indicators that reflect the volume range where the thumb tip and the two of the finger tips comprise the thumb tip, an arbitrary finger tip among the finger tips, and a finger tip among the finger tips that is adjacent to the arbitrary finger tip. ### Claim 14 (depends on 12) The method according to claim 12, wherein the initial setting values comprise: finger length setting values for information about lengths of the thumb tip and the finger tips involved in the model; thumb start coordinates for the start point of the thumb involved in the model; angle setting values for information about an area where the thumb and the fingers involved in the model of the robot hand structure are movable; and joint movable range values for movable ranges of joints respectively corresponding to the thumb and the fingers involved in the model of the robot hand structure. ### Claim 15 (depends on 14) The method according to claim 14, wherein the receiving of the initial setting values comprises: receiving a length value of the thumb and length values of the fingers as the finger length setting values when the fingers in the model have the same length, and receiving a length value of the thumb and an average length value of the fingers when the fingers in the model are different in length. ### Claim 16 (depends on 15) The method according to claim 15, wherein the joint movable range values comprise: a thumb proximal-interphalangeal-joint lateral-movable-range angle value indicating a movable range where a proximal interphalangeal joint of the thumb is movable laterally with respect to a metacarpal front in the model; a thumb proximal-interphalangeal-joint front-movable-range angle value indicating a movable range where the proximal interphalangeal joint of the thumb is movable toward the metacarpal; a thumb middle-interphalangeal-joint front-movable-range angle value indicating a movable range where a middle interphalangeal joint of the thumb is movable toward the metacarpal; a thumb distal-interphalangeal-joint front-movable-range angle value indicating a movable range where a distal interphalangeal joint of the thumb is movable toward the metacarpal; a finger proximal-interphalangeal-joint lateral-movable-range angle value indicating a movable range where a proximal interphalangeal joint of each finger is movable laterally; a finger proximal-interphalangeal-joint front-movable-range angle value indicating a movable range where the proximal interphalangeal joint of each finger is movable toward the metacarpal; and a finger middle and distal-interphalangeal-joint front-movable-range angle value indicating a movable range where the distal interphalangeal joint and the middle interphalangeal joint of each of the fingers are movable toward the metacarpal when the distal interphalangeal joint of the finger is designed to be movable depending on the middle interphalangeal joint, or a finger middle-interphalangeal-joint front-movable-range angle value indicating a movable range where the middle interphalangeal joint of each of the fingers is movable toward the metacarpal and a finger distal-interphalangeal-joint front-movable-range angle value indicating a movable range where the distal interphalangeal joint of each of the fingers is movable toward the metacarpal when the distal interphalangeal joint of the finger is designed to be movable independently of the middle interphalangeal joint. ### Claim 17 (depends on 14) The method according to claim 14, wherein the thumb start coordinates comprise x, y, and z coordinates of the start point of the thumb in a spatial coordinate system. ### Claim 18 (depends on 17) The method according to claim 17, wherein the angle setting values comprise: angle values between adjacent fingers among the fingers with respect to a metacarpal; an angle value obtained by rotating the thumb with respect to an x axis at the start point of the thumb; an angle value obtained by rotating the thumb with respect to a y axis at the start point of the thumb on the spatial coordinate system; and an angle value obtained by rotating the thumb with respect to a z axis at the start point of the thumb on the spatial coordinate system. ### Claim 19 (depends on 12) The method according to claim 12, wherein the interactivity of fingers (IF) is expressed as follows: IF = ∑ i = 1 n - 1 ⁢ w i ⁢ d i ( n - 1 ) ⁢ θ total ⁢ L t 2 ⁢ L f 2 ⁢ ( ∑ i = 1 n - 1 ⁢ w i ⁢ v i + k ⁢ ∑ i = 1 n - 2 ⁢ w i ⁢ w i + 1 ⁢ v ii + 1 ) where, IF is the interactivity value among the thumb and the fingers; Wi is a weight coefficient of an ith finger previously stored in a storage as a value previously assigned to the ith finger and ranging from 0 to 1; di is a distance between the start point of the thumb and the start point of the ith finger; n is a number of thumb and fingers; n−1 is a number of fingers; θtotal is the total of movable range angle values of joints included in the fingers that are controllable in the model of the robot hand structure; Lt is a length of the thumb as a value included in the received setting values; Lf is the length of the fingers as a value included in the setting values; Vi is a volume range where the thumb tip and an ith finger tip can meet; Wi+1 is a weight coefficient of an (i+1)th finger previously stored in the storage as a value previously assigned to the (i+1)th finger that is adjacent to the ith finger and ranging from 0 to 1; Vii+1 is a volume range where the thumb tip, the ith finger tip, and an (i+1)th finger tip that is adjacent to the ith finger can meet one another; and k is a compensation coefficient previously stored in the storage to adjust an effect level of Vi and Vii+1. ### Claim 20 (depends on 19) The method according to claim 19, wherein the workspace is determined by determining the distance between the start point of the thumb and the start point of the finger based on x, y, and z coordinates of the start point of the thumb, length values of remaining fingers among the fingers, and angle values between adjacent fingers among the fingers with respect to the metacarpal, which are included in the received initial setting values. ### Claim 21 (depends on 12) The method according to claim 12, wherein the optimization algorithm comprises a genetic algorithm. ### Claim 22 A system of optimizing a structure of a robot hand, the system comprising: an input section configured to receive setting values for a model of a robot hand structure; and a controller comprising: a finger workspace determiner configured to determine movement of a thumb tip of a thumb and respective finger tips of fingers involved in the model based on the received setting values; a performance indicator determiner configured to determine performance indicators through interactivity of fingers (IF) that reflects a volume range where the thumb tip and two of the finger tips can meet one another; and a performance indicator processor configured to output the determined performance indicators as the performance indicators for the model of the robot hand structure indicated by the received setting values, wherein the setting values comprise an angle value obtained by rotating the thumb at a start point of the thumb, wherein the finger workspace determiner is further configured to determine the movement by determining a distance between the start point of the thumb and a start point of a finger among the fingers, wherein the structure of the robot hand is optimized by manufacturing the robot hand based on the determined performance indicators.