Grasp Mapping Between a 3-Finger Haptic Device and a Robotic Hand

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:
  • Suárez Ruiz, Francisco
  • Galiana Bujanda, Ignacio
  • Tenzer, Yaroslav
  • Jentoft, Leif P.
  • Howe, Robert D.
  • Ferre Pérez, Manuel
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

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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
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