DocumentCode :
438994
Title :
A virtual circle method for kinematic mapping human hand to a non-anthropomorphic robot
Author :
Heng Wang ; Low, K.H. ; Gong, Feng ; Wang, Michael Yu
Author_Institution :
Sch. of Mech. & Production Eng., Nanyang Technol. Univ., Singapore
Volume :
2
fYear :
2004
fDate :
6-9 Dec. 2004
Firstpage :
1297
Abstract :
An investigation was initiated on the study of the kinematic mapping between human hand and the non-anthropomorphic robot hand. To account for the significant dissimilarities between them, a "virtual circle mapping" method has been developed based on the fingertips\´ relative positions. The principle of the method is to find suitable parameters in the hand frame, transform them to the robot frame, and then compute the robot fingertip positions according to the transformed parameters. The preliminary results and the comparison with the point-to-point mapping results are presented and analyzed. The generalization of the relative-position based mapping idea is also discussed.
Keywords :
interactive systems; manipulator kinematics; position control; human hand; kinematic mapping; nonanthropomorphic robot; robot fingertip positions; virtual circle mapping; Anthropomorphism; Control systems; Data gloves; Fingers; Human robot interaction; Kinematics; Orbital robotics; Production engineering; Robot sensing systems; Robotics and automation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th
Print_ISBN :
0-7803-8653-1
Type :
conf
DOI :
10.1109/ICARCV.2004.1469033
Filename :
1469033
Link To Document :
بازگشت