Journal of Shanghai University(Natural Science Edition) ›› 2018, Vol. 24 ›› Issue (1): 33-43.doi: 10.12066/j.issn.1007-2861.1833

• Research Articles • Previous Articles     Next Articles

Dexterous robotic hand control based on motion mapping

JIANG Caijun, XU Yulin(), DING Meikun   

  1. School of Mechatronic Engineering and Automation,Shanghai University, Shanghai 200444, China
  • Received:2016-06-13 Online:2018-02-28 Published:2018-03-02
  • Contact: XU Yulin E-mail:xuyulin@shu.edu.cn

Abstract:

A control system for dexterous robotic hands based on motion mapping of data glove is presented in this paper. Humanoid gestures and grasping motion can intuitively be realized on robotic hands through human hand motion mapping by data glove. Operation performance of the robotic hand is improved. Direct joint angle mapping and fingertip position mapping are adapted to control the robotic hand motion. Experimental results show practicality of the control system.

Key words: dexterous robotic hand, motion mapping, data glove

CLC Number: