Tele-operation of robot hand exploiting human hand synergy

Chattaraj, Ritwik; Kundu, Ananda Sankar; Mazumder, Oishee; Bepari, Bikash; Bhaumik, Subhasis

doi:10.1145/2783449.2783483

Cited by 4 publications

(4 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…The grasps simulated on the anthropomorphic robot model are poised to be validated on an under‐actuated hardware (BARC‐IIEST robot hand [7]). The developed set‐up possesses five DoFs with singular finger flexions being induced by brush‐less DC actuators.…”

Section: Projection On An Under‐actuated Robot Hardwarementioning

confidence: 99%

“…The joint angles of the animated human-hand-model reflect the intervening joint-synergies (z [ < 2×1 ) obtained after standard dimensionreduction on grasp patterns. An optimum number of discriminants (z 1 and z 2 ) along with their corresponding synergy coefficients (S h [ < 20×2 ) describe the entire grasp-scene in terms of vectored eigen subspace as shown in (7). q m represents the initial joint angles assumed by the operator while commencing a particular grasp-act…”

mentioning

confidence: 99%

“…3) that are created at the human and robot work volumes. It offers kinaesthetic sensations on the device stylus ( Projection on an under-actuated robot hardware: The grasps simulated on the anthropomorphic robot model are poised to be validated on an under-actuated hardware (BARC-IIEST robot hand [7]). The developed set-up possesses five DoFs with singular finger flexions being induced by brush-less DC actuators.…”

mentioning

confidence: 99%

See 2 more Smart Citations

Regeneration of natural grasp prehensions on underactuated robot‐hand through kinaesthetic guidance

Chattaraj

Khan²,

Roy

et al. 2017

Electron. lett.

View full text Add to dashboard Cite

Grasping postures on a human hand are generated by an effective combination of spatial motions and contact forces on individual finger linkages. The rich kinematic redundancy within its anatomy, poses critical control challenges, while emulating natural prehensile actions. A simplified grasp-formulation resolution is presented, by proposing a virtual-object imagery to define generic grasp enaction sequences. The same are conceived and controlled by a set of contact points on the imagined grasp-sphere, whose spatial conformation is guided by a serial-haptic interface. The kinaesthetic cognitions along with visual feed to an operator ushers a reliable framework for grasp execution and transfer to a robot hardware without resorting to supplementary mapping mechanisms. Stable grasps on the anthropomorphic robot setup portrays a systematic procedure to transcribe human-like postural attributes, aided with somesthetic and visual sensations that are anticipated to steer remote operator controls.

show abstract

Section: Projection On An Under‐actuated Robot Hardwarementioning

confidence: 99%

mentioning

confidence: 99%

mentioning

confidence: 99%

See 1 more Smart Citation

Regeneration of natural grasp prehensions on underactuated robot‐hand through kinaesthetic guidance

Chattaraj

Khan²,

Roy

et al. 2017

Electron. lett.

View full text Add to dashboard Cite

show abstract

“…Synergy provides a method to simultaneously control multiple Degrees of Freedom (DoFs) of a multi-fingered hand to produce coordinated movements from a limited set of input signals. One of the common strategies for controlling multi-fingered hands is to adopt synergy for their control inputs [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14]. For grasping an object, a synergy, hereafter called grasp synergy, can be constructed by applying the principal component analysis (PCA) to the human's hand grasping postures.…”

Section: Introductionmentioning

confidence: 99%

Functionally Divided Manipulation Synergy for Controlling Multi-fingered Hands

Higashi

Koyama

Ozawa

et al. 2020

Preprint

View full text Add to dashboard Cite

Synergy supplies a practical approach for expressing various postures of a multi-fingered hand. However, a conventional synergy defined for reproducing grasping postures cannot perform general-purpose tasks expected for a multifingered hand. Locking the position of particular fingers is essential for a multi-fingered hand to manipulate an object. When using conventional synergy based control to manipulate an object, which requires locking some fingers, the coordination of joints is heavily restricted, decreasing the dexterity of the hand. We propose a functionally divided manipulation synergy (FDMS) method, which provides a synergy-based control to achieves both dimensionality reduction and in-hand manipulation. In FDMS, first, we define the function of each finger of the hand as either "manipulation" or "fixed." Then, we apply synergy control only to the fingers having the manipulation function, so that dexterous manipulations can be realized with few control inputs. The effectiveness of our proposed approach is experimentally verified.

show abstract