Bio-inspired motion strategies for a bimanual manipulation task

Abstract

Abstract-We consider the complex task of coordinating two five-fingered anthropomorphic robot hands for taking a jar passed from a human user and unscrewing its cap. Using a pair of 7-DOF redundant arms for operating the hands, we study how the incorporation of human movement strategies at the finger and arm levels can aid in the solution of the overall bimanual task. At the finger level, we employ a finger control manifold for the unscrewing motion that has been synthesized with a kernel approach applied to human motion data captured with a data glove. At the arm level, we use a heuristic motivated from the observation of human arm movements to enhance the space of pass-over configurations that the system can successfully handle. In addition, we provide a brief description of the architecture of the overall system that comprises 54 motor degrees of freedom and integrates camera vision, arm and finger control as well as a speech output component for interaction with the human user.

Flexible and stretchable fabric-based tactile sensor

“…This will include incorporating a wireless real-time data transmission module in addition to an on-board micro-SD card slot to allow later offline data analysis similar to our previous work presented in [7]. We would also like to integrate additional sensors into the glove to capture the posture of the hand, as this has been very important in our previous work [24,25].…”

A Survey of the Ontogeny of Tool Use: From Sensorimotor Experience to Planning

“…For example "contour-following" can be observed at 12 months, which involves holding the toy in one hand and maneuvering it, while the fingertips of the other hand are moved smoothly over its edges [121], or employing a single finger or pincer action for manipulation with the second hand at 11 or 13 months [120]. Bimanual control has been implemented in the iCub using the Passive Motion Paradigm, to perform two-handed grasping and moving of objects [122]; role differentiated bimanual activity has been shown recently for opening of a screw-top jar [123].…”

Human finger joint synergies for a constrained task applied to a dexterous anthropomorphic hand

“…Unscrewing a jar has also been previously explored with the Shadow Robot Hand [7]. Finger gaiting is an important trait for anthropomorphic manipulators to dexterously manipulate many objects [8].…”