Optimized fingertip mapping for teleoperation of dextrous robot hands

TitleOptimized fingertip mapping for teleoperation of dextrous robot hands
Publication TypeConference Paper
Year of Publication1993
AuthorsRohling, R. N., and J. M. Hollerbach
Conference NameRobotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Pagination769 -775 vol.3
Date Publishedmay.
Keywordsdextrous robot hands, fingertip mapping, kinematic dissimilarities, manipulators, optimisation, orientation, orientations, position control, positioning, telecontrol, teleoperation, Utah/MIT Dextrous Hand

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


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