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

Content Provider	IEEE Xplore Digital Library
Author	Salvietti, G. Wimbock, T. Prattichizzo, D.
Copyright Year	2013
Description	Author affiliation: Inst. of Robot. & Mechatron., German Aerosp. Center (DLR), Wessling, Germany (Wimbock, T.) \|\| Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genova, Italy (Salvietti, G.; Prattichizzo, D.)
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 object-based 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.
Sponsorship	IEEE Ind. Electron. Soc.
Starting Page	2460
Ending Page	2465
File Size	1940551
Page Count	6
File Format	PDF
ISSN	21530858
DOI	10.1109/IROS.2013.6696702
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-11-03
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot kinematics Joints Grasping Vectors Joining processes Complexity theory
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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