Mapping synergies from human to robotic hand with dissimilar kinematic: an object oriented approach

Robotic hands differ in kinematics, dynamics, programming, control and sensing frameworks. Their common feature is redundancy, which undoubtedly represents a key feature for dexterity and flexibility, but it is also a drawback for integrated automation, since it typically requires additional efforts to seamlessly integrate devices, in industrial scenario. This work focuses on the mapping between hands with dissimilar kinematics. It is based on the argument that the reflected optimality of the pattern of grasping forces emerging from human hand synergies should be matched, in some sense, by the sought for synergistic control of robotic hands. The proposed mapping is based on the use of a virtual sphere and is mediated by a model of an anthropomorphic robotic hand able to capture the idea of synergies in human hands.

- G. Gioioso, G. Salvietti, M. Malvezzi, D. Prattichizzo. "Mapping synergies from human to robotic hands with dissimilar kinematics: an object based approach." In Workshop on Manipulability under uncertainty, Proc. IEEE Int. Conf. on Robotics and Automation, Shanghai, China, May 2011

Category:

Science & Technology

Tags:

• robot
• technology
• hand
• synergies
• mapping