NDLI: Arm-hand movement: Imitation of human natural gestures with tenodesis effect

Content Provider	IEEE Xplore Digital Library
Author	Kien-Cuong Nguyen Perdereau, V.
Copyright Year	2011
Description	Author affiliation: UPMC Univ Paris 06, UMR7222, ISIR, F-75005, France (Kien-Cuong Nguyen; Perdereau, V.)
Abstract	For an anthropomorphic arm-hand robot, grasping and in-hand manipulating an object can be realized with numerous approach trajectories and grasping configurations. The redundancy at this level of the tasks is due to a large number of degrees-of-freedom (DOFs) of the arm-hand system. This redundancy constitutes a big challenge to the planning and control tasks of the robot. For this kind of tasks, human has his own choices privileging certain configurations over the others. These choices come from a long learning process which implicitly takes into account the mechanical constraints of the system. In this work, we concentrate our effort on deciphering certain mechanical constraints, “tenodesis” phenomenon in particular, in order to solve the redundancy and imitate the human natural gestures in the tasks of grasping or in-hand manipulation.
Starting Page	1459
Ending Page	1464
File Size	1675128
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094694
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Muscles Joints Humans Tendons Redundancy Robots Wrist
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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