Full text
![[img]](http://oa.upm.es/style/images/fileicons/application_pdf.png) |
PDF
- Personal Archivo Digital UPM only
- Requires a PDF viewer, such as GSview, Xpdf or Adobe Acrobat Reader
Download (2MB) |
Grasp Mapping Between a 3-Finger Haptic Device and a Robotic Hand
Citation
Suárez Ruiz, Francisco and Galiana Bujanda, Ignacio and Tenzer, Yaroslav and Jentoft, Leif P. and Howe, Robert D. and Ferre Pérez, Manuel (2014). Grasp Mapping Between a 3-Finger Haptic Device and a Robotic Hand. In: "9th International Conference, EuroHaptics 2014", 24-26 June 2014, Versailles, France. ISBN 978-3-662-44192-3 (Print) 978-3-662-44193-0 (Online). pp. 275-283.
Description
| Title: | Grasp Mapping Between a 3-Finger Haptic Device and a Robotic Hand |
|---|---|
| Author/s: |
|
| Item Type: | Presentation at Congress or Conference (Article) |
| Event Title: | 9th International Conference, EuroHaptics 2014 |
| Event Dates: | 24-26 June 2014 |
| Event Location: | Versailles, France |
| Title of Book: | Haptics: Neuroscience, Devices, Modeling, and Applications 9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014, Proceedings |
| Date: | 2014 |
| ISBN: | 978-3-662-44192-3 (Print) 978-3-662-44193-0 (Online) |
| Volume: | Part I |
| Subjects: | |
| Freetext Keywords: | Grasp mapping, Haptic device, Robotic hand Tactile sensors |
| Faculty: | E.T.S.I. Industriales (UPM) |
| Department: | Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial |
| UPM's Research Group: | “Personal Investigador en Formación” from Universidad Politecnica de Madrid |
| Creative Commons Licenses: | None |
Abstract
This paper presents the implementation of a robust grasp mapping between a 3-finger haptic device (master) and a robotic hand (slave). Mapping is based on a grasp equivalence defined considering the manipulation capabilities of the master and slave devices. The metrics that translate the human hand gesture to the robotic hand workspace are obtained through an analytical user study. This allows a natural control of the robotic hand. The grasp mapping is accomplished defining 4 control modes that encapsulate all the grasps gestures considered.
More information
| Item ID: | 36291 |
|---|---|
| DC Identifier: | http://oa.upm.es/36291/ |
| OAI Identifier: | oai:oa.upm.es:36291 |
| Official URL: | http://link.springer.com/chapter/10.1007/978-3-662-44193-0_35 |
| Deposited by: | Memoria Investigacion |
| Deposited on: | 09 Jul 2015 14:56 |
| Last Modified: | 22 Feb 2017 17:55 |
