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Title:
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Hybrid mapping for the assistance of teleoperated grasping tasks
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Author:
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Colasanto, Luca; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan
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Other authors:
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Universitat Politècnica de Catalunya. Institut d'Organització i Control de Sistemes Industrials; Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. SIR - Service and Industrial Robotics |
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Abstract:
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Teleoperating a robotic hand with the aid of a sensorized
glove presents some particular problems. A certain problem
is due to the kinematic differences between the human hand
and the robotic hand, which do not allow a simple direct mapping
of the sensor readings from the glove to the robotic hand. This
problem is addressed with different types of mapping, but none
of them is of general use. This paper proposes two new mappings
within two existing mapping types, as well as a new hybrid mapping
that combines the best features of these existing mapping
types. This hybrid mapping allows intuitive free space movements
(where the gesture is more important than the precise positions of
the fingers) and grasp movements (where the precise positions of
the fingers is more important than the gesture), despite kinematic
differences between the human hand and the robotic hand. The
approach has been implemented, and some illustrative examples
are presented in this paper. |
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Subject(s):
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-Àrees temàtiques de la UPC::Informàtica::Robòtica
-Robot hands
-Mans mecàniques |
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Rights:
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Document type:
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Article - Published version
Article |
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