中文

Journal of Shanghai University >

2018 , Vol. 24 >Issue 1: 33 - 43

DOI: https://doi.org/10.12066/j.issn.1007-2861.1833

Research Articles

Dexterous robotic hand control based on motion mapping

Expand
  • School of Mechatronic Engineering and Automation,Shanghai University, Shanghai 200444, China

Received date: 2016-06-13

  Online published: 2018-03-02

Fold

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

Cite this article

JIANG Caijun, XU Yulin, DING Meikun . Dexterous robotic hand control based on motion mapping[J]. Journal of Shanghai University, 2018 , 24(1) : 33 -43 . DOI: 10.12066/j.issn.1007-2861.1833

References

[1] 王家顺, 王田苗, 魏军 , 等. 一种面向遥操作的新型数据手套研制[J]. 机器人, 2005,22(3):201-206.
[2] Hoshino K. Dexterous robot hand control with data glove by human imitation[J]. IEICE Transactions on Information and Systems, 2006, E89- D(6):1820-1825.
[3] Tran N X, Phan H, Dinh V V, et al. Wireless data glove for gesture-based robotic control[C]// 13th International Conference on Human-Computer Interaction, 2009: 271-280.
[4] Ozawa R, Ueda N. Supervisory control of a multi-fingered robotic hand system with data glove[C]// IEEE International Conference on Intelligent Robots and Systems. 2007: 1606-1611.
[5] Huertas M R, Romero J R M, Venegas H A M. A robotic arm telemanipulated through a digital glove[C]// Electronics, Robotics and Automotive Mechanics Conference. 2007: 470-475.
[6] Bae J H, Park S W, Kim D, et al. Grasp strategy with the geometric centroid of a groped object shape derived from contact spots[C]// IEEE International Conference on Robot and Automation. 2012: 3798-3804.
[7] Wimb$\acute{o}$ck T, Ott C, Albu-Sch$\acute{a}$ffer A , et al. Comparison of object-level grasp controllers for dynamic dexterous manipulation[J]. International Journal of Robotics Research, 2012,31(1):3-23.
[8] Zhang J J, Fang J C. Research of mechanical arm control based on data glove[C]// IEEE 2008 International Symposium on Information Science and Engineering. 2008: 188-191.
[8] Boonpinon N, Sudsang A. Formation control for multi-robot teams using a data glove[C]// 2008 IEEE International Conference on Robotics. 2008: 525-531.
[10] Hong J, Tan X. Calibrating a VPL data glove for teleoperating the UTAH/MIT hand[C]// IEEE International Conference on Robotics and Automation. 1989: 1752-1757.
[11] Pao L, Speeter T H. Transformation of human hand positions for robotic hand control[C]// IEEE International Conference on Robotics and Automation. 1989: 1758-1763.
[12] Gustus A, Stillfried G, Visser J , et al. Human hand modelling: kinematics, dynamics, applications[J]. Biological Cybernetics, 2012,106(11/12):741-755.
[13] Buchholz B, Armstrong T J . A kinematic model of the human hand to evaluate its prehensile capabilities[J]. Journal of Biomechanics, 1992,25(2):149-162.
[14] Cobos S, Ferre M, Sanchez U M A, et al. Efficient human hand kinematics for manipulation tasks[C]// IEEE/RSJ Int Conf Intell Robot Syst. 2008: 2246-2251.
[15] Abulrub A H, Attridge A N, Williams M A . Virtual reality in engineering education: the future of creative learning[J]. International Journal of Emerging Technologies in Learning, 2011,6(4):751-757.
Options
Outlines

/

〈 〉