Hybrid Mapping for the Assistance of Teleoperated Grasping Tasks

Teleoperating a robotic hand with the aid of a sensorized glove presents some particular problems. A certain problem is due to the kinematic differences between the human hand and the robotic hand, which do not allow a simple direct mapping of the sensor readings from the glove to the robotic hand....

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Bibliographic Details
Published in:IEEE transactions on systems, man, and cybernetics. Systems man, and cybernetics. Systems, 2013-03, Vol.43 (2), p.390-401
Main Authors: Colasanto, L., Suarez, R., Rosell, J.
Format: Article
Language:English
Subjects:
Applied sciences
Astronomy
Computer science
control theory
systems
Computer systems and distributed systems. User interface
Control theory. Systems
Exact sciences and technology
Fingers
Fuzzy systems
Gloves
Grasping
Human
Humans
Informàtica
Joints
Kinematics
Mans mecàniques
Mapping
Movements
Robot hands
Robot sensing systems
robotic hands
Robotics
Robòtica
sensorized gloves
Service robots
Software
teleoperation
Thumb
Àrees temàtiques de la UPC
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Summary:Teleoperating a robotic hand with the aid of a sensorized glove presents some particular problems. A certain problem is due to the kinematic differences between the human hand and the robotic hand, which do not allow a simple direct mapping of the sensor readings from the glove to the robotic hand. This problem is addressed with different types of mapping, but none of them is of general use. This paper proposes two new mappings within two existing mapping types, as well as a new hybrid mapping that combines the best features of these existing mapping types. This hybrid mapping allows intuitive free space movements (where the gesture is more important than the precise positions of the fingers) and grasp movements (where the precise positions of the fingers is more important than the gesture), despite kinematic differences between the human hand and the robotic hand. The approach has been implemented, and some illustrative examples are presented in this paper.
ISSN:2168-2216
2168-2232
2168-2232
DOI:10.1109/TSMCA.2012.2195309