Fig. 3: Several typical functionalized hand gestures of the PRH, which are planned to manipulate various objects.
From: Piezo robotic hand for motion manipulation from micro to macro
a and b show gesture 1 and gesture 2, in which all fingers bend along positive and negative directions of the X-axis, respectively. c and d indicate gestures 3 and 4, in which all fingers bend along positive and negative directions of the Y-axis, respectively. e and f represent gestures 5 and 6, in which all fingers bend along the clockwise and anticlockwise tangent direction of the circumscribed circle of their distribution position in the top view, respectively. g shows gesture 7 for grasping operation. h Micro photos of four fingertips.
