Grasp Mapping Between a 3-Finger Haptic Device and a Robotic Hand
نویسندگان
چکیده
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. Transition between modes guarantee collision-free movements and no damage to grasped objects. Detection of contact with objects is done by means of customized tactile sensors based on MEMS barometers. The methodology herein presented can be extended for controlling a wide range of different robotic hands with the 3-finger haptic device.
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