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| Title | Optimized fingertip mapping for teleoperation of dextrous robot hands |
| Publication Type | Conference Paper |
| Year of Publication | 1993 |
| Authors | Rohling, R. N., and J. M. Hollerbach |
| Conference Name | Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on |
| Pagination | 769 -775 vol.3 |
| Date Published | may. |
| Keywords | dextrous robot hands, fingertip mapping, kinematic dissimilarities, manipulators, optimisation, orientation, orientations, position control, positioning, telecontrol, teleoperation, Utah/MIT Dextrous Hand |
| Abstract | An optimized fingertip mapping (OFM) has been developed to teleoperate the Utah/MIT Dextrous Hand (UMDH) by a new hand master: the Utah Dextrous Hand Master (UDHM). This mapping matches both the master's fingertip positions and orientations by the robot fingers, and accounts for partially overlapping workspaces caused by kinematic dissimilarities between master and robot hands. The OFM generates robot hand poses by prioritizing the human fingertip position and orientation goals, and by minimizing the errors |
| URL | http://dx.doi.org/10.1109/ROBOT.1993.292238 |
| DOI | 10.1109/ROBOT.1993.292238 |