Multi-fingered telemanipulation - mapping of a human hand to a three finger gripper

If a teleoperation scenario foresees complex and fine manipulation tasks a multi-fingered telemanipulation system is required. In this paper a multi-fingered telemanipulation system is presented, whereby the human hand controls a three-finger robotic gripper and force feedback is provided by using an exoskeleton. Since the human hand and robotic grippers have different kinematic structures, appropriate mappings for forces and positions are applied. A point-to-point position mapping algorithm as well as a simple force mapping algorithm are presented and evaluated in a real experimental setup.

[1]  Gerd Hirzinger,et al.  Learning techniques in a dataglove based telemanipulation system for the DLR hand , 1998, Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146).

[2]  Lucy Pao,et al.  Transformation of human hand positions for robotic hand control , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[3]  Katsushi Ikeuchi,et al.  Toward automatic robot instruction from perception-mapping human grasps to manipulator grasps , 1997, IEEE Trans. Robotics Autom..

[4]  Jiawei Hong,et al.  Calibrating a VPL DataGlove for teleoperating the Utah/MIT hand , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[5]  Robert Rohling,et al.  Optimized fingertip mapping for teleoperation of dextrous robot hands , 1993, [1993] Proceedings IEEE International Conference on Robotics and Automation.

[6]  Kostas J. Kyriakopoulos,et al.  Kinematic analysis and position/force control of the Anthrobot dextrous hand , 1997, IEEE Trans. Syst. Man Cybern. Part B.

[7]  Sigal Berman,et al.  Object-action abstraction for teleoperation , 2005, 2005 IEEE International Conference on Systems, Man and Cybernetics.

[8]  M.M. Stanisic,et al.  Kinematic mapping between the EXOS Handmaster exoskeleton and the Utah/MIT dextrous hand , 1990, 1990 IEEE International Conference on Systems Engineering.

[9]  Kenzo Nonami,et al.  Hand posture detection by neural network and grasp mapping for a master slave hand system , 2004, 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) (IEEE Cat. No.04CH37566).

[10]  Mark R. Cutkosky,et al.  On grasp choice, grasp models, and the design of hands for manufacturing tasks , 1989, IEEE Trans. Robotics Autom..

[11]  Danica Kragic,et al.  Interactive grasp learning based on human demonstration , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[12]  R. Dillmann,et al.  Programming service tasks in household environments by human demonstration , 2002, Proceedings. 11th IEEE International Workshop on Robot and Human Interactive Communication.

[13]  Stefano Caselli,et al.  Grasp recognition in virtual reality for robot pregrasp planning by demonstration , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..