收稿日期: 2016-06-13
网络出版日期: 2018-03-02
基金资助
上海市经信委产学研基金资助项目(SH3003122013)
Dexterous robotic hand control based on motion mapping
Received date: 2016-06-13
Online published: 2018-03-02
蒋财军, 徐昱琳, 丁美昆 . 基于运动映射的仿人机械手控制[J]. 上海大学学报(自然科学版), 2018 , 24(1) : 33 -43 . DOI: 10.12066/j.issn.1007-2861.1833
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
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