Simulative Evaluation of a Joint-Cartesian Hybrid Motion Mapping for Robot Hands Based on Spatial In-Hand Information.

ABSTRACT: Two sub-problems are typically identified for the replication of human finger motions on artificial hands: the measurement of the motions on the human side and the mapping method of human hand movements (primary hand) on the robotic hand (target hand). In this study, we focus on the second sub-problem. During human to robot hand mapping, ensuring natural motions and predictability for the operator is a difficult task, since it requires the preservation of the Cartesian position of the fingertips and the finger shapes given by the joint values. Several approaches have been presented to deal with this problem, which is still unresolved in general. In this work, we exploit the spatial information available in-hand, in particular, related to the thumb-finger relative position, for combining jo

SUBMITTER: Meattini R 

PROVIDER: S-EPMC9258910 | biostudies-literature | 2022

REPOSITORIES: biostudies-literature