One-handed Knotting of a Linear Flexible Object based on Reconfigurable Skill Synthesis Strategy

This paper illustrates the relationship between a knotting process and knotting skills for a multifingered hand. To determine the appropriate skills required for knotting, we analyzed the knotting motion performed by a human hand. The knotting process is divided into four handling skills. In addition, this paper proposes a new strategy for making knots with a multifingered hand. The strategy consists of several basic skills, and various knots can be achieved by reconfigurable synthesis of skills. Finally, we show experimental results of an overhand knot and a half hitch.