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Grasp Mapping Between a 3-Finger Haptic Device and a Robotic Hand
Cita
Suárez Ruiz, Francisco, Galiana Bujanda, Ignacio, Tenzer, Yaroslav, Jentoft, Leif P., Howe, Robert D. and Ferre Pérez, Manuel 
ORCID: https://orcid.org/0000-0003-0030-1551
(2014).
Grasp Mapping Between a 3-Finger Haptic Device and a Robotic Hand.
En: "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.
ORCID: https://orcid.org/0000-0003-0030-1551
(2014).
Grasp Mapping Between a 3-Finger Haptic Device and a Robotic Hand.
En: "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.
Descripción
| Título: | Grasp Mapping Between a 3-Finger Haptic Device and a Robotic Hand |
|---|---|
| Autor/es: |
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| Tipo de Documento: | Ponencia en Congreso o Jornada (Artículo) |
| Título del Evento: | 9th International Conference, EuroHaptics 2014 |
| Fechas del Evento: | 24-26 June 2014 |
| Lugar del Evento: | Versailles, France |
| Título del Libro: | Haptics: Neuroscience, Devices, Modeling, and Applications 9th International Conference, EuroHaptics 2014, Versailles, France, June 24-26, 2014, Proceedings |
| Fecha: | 2014 |
| ISBN: | 978-3-662-44192-3 (Print) 978-3-662-44193-0 (Online) |
| Volumen: | Part I |
| Materias: | |
| ODS: | |
| Palabras Clave Informales: | Grasp mapping, Haptic device, Robotic hand Tactile sensors |
| Escuela: | E.T.S.I. Industriales (UPM) |
| Departamento: | Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial |
| Grupo Investigación UPM: | “Personal Investigador en Formación” from Universidad Politecnica de Madrid |
| Licencias Creative Commons: | Ninguna |
Resumen
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.
Más información
| ID de Registro: | 36291 |
|---|---|
| Identificador DC: | https://oa.upm.es/36291/ |
| Identificador OAI: | oai:oa.upm.es:36291 |
| URL Oficial: | http://link.springer.com/chapter/10.1007/978-3-662... |
| Depositado por: | Memoria Investigacion |
| Depositado el: | 09 Jul 2015 14:56 |
| Ultima Modificación: | 22 Feb 2017 17:55 |
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