Sebastian Polzin
Current Organizations / Institutes
The organizations/institutes from the scholar's latest article
Research Subjects
Sebastian Polzin has a total of 6 co-authors. Here are the top co-authors by number of shared publications:
- Alexander Brezing
Department of Mechanical and Automotive Engineering (MAE), King Mongkut's University of Technology North Bangkok, Bangkok, Thailand, Thailand
1 shared publication - Burkhard Corves
RWTH Aachen University
1 shared publication - Daniel Gossen
Institute of Mechanism Theory, Machine Dynamics and Robotics, RWTH Aachen University, 52062 Aachen, Germany
1 shared publication - Mathias Hüsing
RWTH Aachen University
1 shared publication - Omar Farooq
Institute of Mechanism Theory, Machine Dynamics and Robotics, RWTH Aachen University, 52062 Aachen, Germany
1 shared publication - Shubhankar Riswadkar
RWTH Aachen University
1 shared publication
Latest Publications
- Open Access
Quantitative Evaluation of Thumb Degrees of Freedom Relevance in Anthropomorphic Robot Hands
Thumb degree-of-freedom (DOF) allocation in anthropomorphic robot hands involves a trade-off between functional mobility and mechanical-control complexity. This study presents a controlled multi-metric framework for comparing recurring thumb DOF configurations under common palm geometry, non-thumb finger structure, reference frames, Denavit–Hartenberg kinematics, and sampling assumptions. Five literature-derived thumb configurations, namely 3-1-1, 2-2-1, 2-1-1, 2-0-1, and 1-1-1, were evaluated to determine which thumb DOFs should be preserved when kinematic complexity is reduced. The theoretical evaluation included Kapandji Opposition Test reachability, opposition alignment, workspace volume, workspace compactness, cylindrical grasp opportunity, and Jacobian-based dexterity. A targeted experimental validation of the 2-1-1 and 2-0-1 prototypes was then performed on a tendon-driven test bench. The results showed that qualitatively similar thumb configurations are quantitatively unequal: several designs achieved identical Kapandji scores but differed substantially in workspace, alignment, dexterity, and grasp feasibility. Overall, 3-1-1 achieved the strongest overall capability, while 2-2-1 emerged as the strongest reduced-complexity alternative and achieved the best mean dexterity. Retaining two active carpometacarpal DOFs preserved a large share of dexterous function, whereas metacarpophalangeal fixation maintained selected cylindrical grasps but narrowed the feasible task boundary.
Open AccessQuantitative Evaluation of Thumb Degrees of Freedom Relevance in Anthropomorphic Robot Hands
Thumb degree-of-freedom (DOF) allocation in anthropomorphic robot hands involves a trade-off between functional mobility and mechanical-control complexity. This study presents a controlled multi-metric framework for comparing recurring thumb DOF configurations under common palm geometry, non-thumb finger structure, reference frames, Denavit–Hartenberg kinematics, and sampling assumptions. Five literature-derived thumb configurations, namely 3-1-1, 2-2-1, 2-1-1, 2-0-1, and 1-1-1, were evaluated to determine which thumb DOFs should be preserved when kinematic complexity is reduced. The theoretical evaluation included Kapandji Opposition Test reachability, opposition alignment, workspace volume, workspace compactness, cylindrical grasp opportunity, and Jacobian-based dexterity. A targeted experimental validation of the 2-1-1 and 2-0-1 prototypes was then performed on a tendon-driven test bench. The results showed that qualitatively similar thumb configurations are quantitatively unequal: several designs achieved identical Kapandji scores but differed substantially in workspace, alignment, dexterity, and grasp feasibility. Overall, 3-1-1 achieved the strongest overall capability, while 2-2-1 emerged as the strongest reduced-complexity alternative and achieved the best mean dexterity. Retaining two active carpometacarpal DOFs preserved a large share of dexterous function, whereas metacarpophalangeal fixation maintained selected cylindrical grasps but narrowed the feasible task boundary.