In this paper, a method for synergies calculation developed for an anthropomorphic 15 DOFs hand, characterized by one to one mapping between configuration space and fingertip position in the Cartesian space, has been tested on the under-actuated SCHUNK S5FH anthropomorphic hand. The grasping capabilities of the hand controlled in a three dimension synergies subspace have been tested. The results demonstrate that the data set of grasps, measured on human hands, and the mapping method of human hand synergies, based on fingertip measurements and inverse kinematics, is efficient enough to compute suitable synergies subspace where it is possible to plan and control anthropomorphic hands for grasping actions, despite on the hand kinematics and actuation system.
Experimental Test of Synergies Computed on the SCHUNK S5FH under-actuated Hand / Ficuciello, Fanny; Zaccaria, Damiano; Villani, Luigi; Siciliano, Bruno. - (2015). (Intervento presentato al convegno 8th International Workshop on "Human-Friendly Robotics" (HFR 2015) tenutosi a Munich, Germany nel 21-23 October).
Experimental Test of Synergies Computed on the SCHUNK S5FH under-actuated Hand
FICUCIELLO, FANNY;VILLANI, LUIGI;SICILIANO, BRUNO
2015
Abstract
In this paper, a method for synergies calculation developed for an anthropomorphic 15 DOFs hand, characterized by one to one mapping between configuration space and fingertip position in the Cartesian space, has been tested on the under-actuated SCHUNK S5FH anthropomorphic hand. The grasping capabilities of the hand controlled in a three dimension synergies subspace have been tested. The results demonstrate that the data set of grasps, measured on human hands, and the mapping method of human hand synergies, based on fingertip measurements and inverse kinematics, is efficient enough to compute suitable synergies subspace where it is possible to plan and control anthropomorphic hands for grasping actions, despite on the hand kinematics and actuation system.File | Dimensione | Formato | |
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