Mechanical hand manipulation planning using an exoskeleton

‡ [email protected] Abstract—In order * to widen the potentialities of manipulation of the LMS mechanical hand, we developed a new planning approach based on the use of a specific exoskeleton. Its kinematics architecture and dimensions are identical to the mechanical hand. This feature allows us to obtain manipulation trajectories for the mechanical hand, very easily and very quickly, by using the exoskeleton. This paper presents the characteristics of this exoskeleton and the graphic interface, which we developed. This one uses a method to determine the object’s evolution during the manipulation with the exoskeleton, without using exteroceptive sensors. The approach was tested successfully for standard trajectories by simulation on a CAD robotics system and by using the mechanical hand.