Learning Grasp Configuration Through Object-Specific Hand Primitives for Posture Planning of Anthropomorphic Hands.

ABSTRACT: The proposal of postural synergy theory has provided a new approach to solve the problem of controlling anthropomorphic hands with multiple degrees of freedom. However, generating the grasp configuration for new tasks in this context remains challenging. This study proposes a method to learn grasp configuration according to the shape of the object by using postural synergy theory. By referring to past research, an experimental paradigm is first designed that enables the grasping of 50 typical objects in grasping and operational tasks. The angles of the finger joints of 10 subjects were then recorded when performing these tasks. Following this, four hand primitives were extracted by using principal component analysis, and a low-dimensional synergy subspace was established. The problem of pl

SUBMITTER: Liu B 

PROVIDER: S-EPMC8480411 | biostudies-literature | 2021

REPOSITORIES: biostudies-literature