DOI: 10.1007/978-3-319-00065-7_35
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Abstract: This work aims at defining a suitable postural synergies subspace for the DEXMART Hand from observation of human hand grasping postures. Previous works were carried out on a preliminary prototype (the UB Hand IV), without neither proprioceptive integrated sensors nor external sensors, by means of a joint-to-joint mapping technique. Using an RGB camera and depth sensor for 3D motion capture, the human hand palm pose and fingertip positions have been measured for a reference set of grasping postures. The propose…

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