On motion and force controllability of grasping hands with postural synergies

Abstract-Replicating human hand capabilities on robotic hands is a great challenge in robotics. The high complexity of mechanical and actuation systems of available robotic device can be, however, considerably mitigated if a human inspired control is considered. In this paper the application of an objectbased mapping to the control of robot hands is presented. The basic idea is to use a virtual object, e.g. a virtual sphere, to capture human hand motion generating suitable reference signals for a low level controller of the robotic hand. The low level controller considered, which shares the idea of virtual object to reduce the complexity of the control, is the static Intrinsically Passive Controller (s-IPC). This controller is inspired by the dynamic IPC, but provides a simpler and more efficient implementation. The proposed approach allows to map motion of a human hand model, controlled on the reduced subspace of postural synergies, onto robotic hands guaranteeing the stability of the robotic grasp. This concept, which has been experimentally validated in the paper, can be exploit for complex planning methods or used in telemanipulation application.

show abstract

“…One of the advantages of this solution is that postural synergies for this hand are well defined [13], [14].…”

Section: The Virtual Sphere Algorithmmentioning

confidence: 99%

A static intrinsically passive controller to enhance grasp stability of object-based mapping between human and robotic hands

Salvietti

Wimböck

Prattichizzo

2013

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems

View full text Add to dashboard Cite

show abstract

“…A more detailed presentation of the problem is described in [18], further details on grasp theory can be found in [19], [20].…”

Section: A Synergy Backgroundmentioning

confidence: 99%

An Object-Based Approach to Map Human Hand Synergies onto Robotic Hands with Dissimilar Kinematics

Gioioso¹,

Salvietti²,

Malvezzi³

et al. 2012

Robotics: Science and Systems VIII

View full text Add to dashboard Cite

Abstract-Robotic hands differ in kinematics, dynamics, programming, control and sensing frameworks. Borrowing the terminology from software engineering, there is a need for middleware solutions to control the robotic hands independently from their specific structure, and focusing only on the task.Results in neuroscience concerning the synergistic organization of the human hand, are the theoretical foundation of this work, which focuses on the problem of mapping human hand synergies on robotic hands with dissimilar kinematic structures.The proposed mapping is based on the use of a virtual ellipsoid and it is mediated by a model of an anthropomorphic robotic hand able to capture the idea of synergies in human hands. This approach has been tested in two different robotic hands with an anthropomorphic and non-anthropomorphic kinematic structure.

show abstract

“…To reduce actuators and control complexity, recently robotic researchers (e.g [57,58]) have adopted observations from neuro-scientists to investigate a different approach for dexterous grasping mechanisms and control. It was noticed and experimentally shown that even humans do not seem to control all of their 15 DOFs in their hand independently for all tasks.…”

Section: Postural and Force Synergiesmentioning

confidence: 99%

“…In [57], an extensive analysis on motion and force controllability for robotic grasping hands with postural synergies is shown. These postural synergies can be virtually implemented, while maintaining full DOF actuation, to reduce control complexity.…”

Section: Postural and Force Synergiesmentioning

confidence: 99%

See 1 more Smart Citation

On compliant underactuated robotic fingers

Wassink¹

View full text Add to dashboard Cite

SummaryDriven by societal trends, such as aging, and by a desire to drive economic growth and enhance commercial competitiveness, researchers have tried to move robots from structured manufacturing tasks to unstructured professional and personal service applications.As announced in the Falcon project, an example of a possible unstructured professional service task for future robots is found in package-handling tasks in warehouses (distribution centers). The Falcon project aimed to design a new system architecture for a fully automated distribution center and to define, within this architecture, specific critical robotic components, which were then targeted to be researched. The author observed some inherent challenges in following such an application driven research approach. Chapter 2 presents the author's reflections on the tensions between top-down systems engineering approaches and the classical bottom-up approach for doing research.Rather than targeting one specific robotic service application, several general technological challenges were identified that require resolution to let robots move from structured to unstructured applications. One such general technological challenge is to develop versatile robotic end-effectors which are able to execute a diverse set of unstructured human-like service tasks, either being professional or personal tasks. Various approaches can be taken to develop these versatile end-effectors. This thesis focuses on contributing in the development of human-like dexterous robotic hands. The thesis presents a study on a novel robotic finger concept (aimed to be used in dexterous robotic hands), the control thereof and an accompanying theoretic treaty on natural pseudo-inverses.Inspired by human hand studies, Chapter 3 describes the desired functions for a dexterous robotic hand, being dexterous grasping, dexterous manipulation, free motion and interactive motion. Following a brief review of the current status of dexterous robotic hand technology, Chapter 3 formulates design considerations and a research direction for further developments and innovations in dexterous robotic hand technology. Variable mechanical compliance and underactuated actuation methods are marked as important design features to support robust, reliable, low weight, human dimensional and affordable technologies for dexterous robotic hands. Benefits of using actuation methods with variable compliance for grasping are presented separately in Chapter 4. Several simple grasp scenarios are used to show that different scenarios have different preferred compliance settings, which highlights the advantages of using variable compliance.Chapter 5 gives insights on natural space decompositions for the pseudo-inverse of physical maps in models of physical systems, such as the actuation Jacobian (also called transmission matrix) in a kinematic model of a drive-train of an underactuated robotic finger. Multiple mathematical view-points are used to explain the importance of choosing proper metrics on vector spaces, especially w...

show abstract

On motion and force controllability of grasping hands with postural synergies

Cited by 48 publications

References 13 publications

A static intrinsically passive controller to enhance grasp stability of object-based mapping between human and robotic hands

A static intrinsically passive controller to enhance grasp stability of object-based mapping between human and robotic hands

An Object-Based Approach to Map Human Hand Synergies onto Robotic Hands with Dissimilar Kinematics

On compliant underactuated robotic fingers

Contact Info

Product

Resources

About