Requirement Scoping of a Biologically Inspired Robotic End-Effector

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This lecture discusses the requirement scoping for a biologically inspired robotic end-effector designed to grasp deformable materials like fabric. It covers the observation of human behavior, various grasping techniques utilized, and the proposed design of an effector capable of precision grasping. The review highlights the limitations of current effectors and the need for a wide range of grasping forces in fabric manipulation.

A hand is a prehensile, multi-fingered appendage located at the end of the forearm or forelimb of primates such as humans, chimpanzees, monkeys, and lemurs. A few other vertebrates such as the koala (which has two opposable thumbs on each "hand" and fingerprints extremely similar to human fingerprints) are often described as having "hands" instead of paws on their front limbs. The raccoon is usually described as having "hands" though opposable thumbs are lacking.

The thumb is the first digit of the hand, next to the index finger. When a person is standing in the medical anatomical position (where the palm is facing to the front), the thumb is the outermost digit. The Medical Latin English noun for thumb is pollex (compare hallux for big toe), and the corresponding adjective for thumb is pollical. The English word finger has two senses, even in the context of appendages of a single typical human hand: Any of the five terminal members of the hand.