A Set of Grasp Requirements for a Dexterous Robot Hand Based on Existing Crew Aids, Tools and Interfaces

This paper describes the development of a database of grasping requirements for existing crew aids, tools (CATs) and interfaces used during extravehicular activity (EVA). This database identifies the basic grasping requirements of 242 CATs and interfaces found in the EVA Tools and Equipment Reference Book. The results of this study show that over 50% of these grasps are cylindrical, and that it may be possible for a three-fingered hand to achieve over 90% of these grasps. This has led to the development of a multifingered dexterous robot hand that can achieve cylindrical grasps, while producing the holding strength necessary for grasping several CATs and interfaces included in the database.