Memorias de investigación
Conferences:
Grasp Mapping Between a 3-Finger Haptic Device and a Robotic Hand
Year:2014
Research Areas
  • Robotics
Information
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.
International
Si
978-3-662-44192-3
Entity
Entity Nationality
Sin nacionalidad
Place
Versailles, France
Participants
  • Autor: Francisco Alejandro Suarez Ruiz UPM
  • Autor: Ignacio Galiana Bujanda UPM
  • Autor: Manuel Ferre Perez UPM
Research Group, Departaments and Institutes related
  • Creador: Grupo de Investigación: Robots y máquinas inteligentes
  • Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
  • Departamento: Automática, Ingeniería Eléctrica y Electrónica e Informática Industrial