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.
Transition between modes guarantee collision-free movements and no damage to grasped objects. Detection of contact with objects is done by means of customized tactile sensors based on MEMS barometers.
The methodology herein presented can be extended for controlling a wide range of different robotic hands with the 3-finger haptic device.
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Acknowledgements
This work has been partially funded by the “Ministerio de Economía y Competitividad” under grant DPI2012–32509 (TeleScale project), the program “Personal Investigador en Formación” from Universidad Politcnica de Madrid (UPM) and the i-Link project 2012-0413 supported by CSIC for the collaboration of Harvard School of Engineering and Applied Sciences and Centre for Automation and Robotics UPM-CSIC.
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Suárez-Ruiz, F., Galiana, I., Tenzer, Y., Jentoft, L.P., Howe, R.D., Ferre, M. (2014). Grasp Mapping Between a 3-Finger Haptic Device and a Robotic Hand. In: Auvray, M., Duriez, C. (eds) Haptics: Neuroscience, Devices, Modeling, and Applications. EuroHaptics 2014. Lecture Notes in Computer Science(), vol 8618. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-44193-0_35
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DOI: https://doi.org/10.1007/978-3-662-44193-0_35
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