NDLI: On the use of homogeneous transformations to map human hand movements onto robotic hands

Content Provider	IEEE Xplore Digital Library
Author	Salvietti, G. Malvezzi, M. Gioioso, G. Prattichizzo, D.
Copyright Year	2014
Description	Author affiliation: Dipt. di Ing. dell'Inf., Univ. degli Studi di Siena, Siena, Italy (Malvezzi, M.) \|\| Dept. of Adv. Robot., Ist. Italiano di Tecnol., Genoa, Italy (Salvietti, G.; Gioioso, G.; Prattichizzo, D.)
Abstract	Replicating the human hand capabilities is a great challenge in telemanipulation as well as in autonomous grasping and manipulation. One of the main issues is the difference between human and robotic hands in terms of kinematic structure, which does not allow a direct correlation of the joints. We recently proposed an object-based mapping algorithm able to replicate on several robotic hand models the human hand synergies. In such approach the virtual object shapes were a-priori defined (e.g. a sphere or an ellipsoid) and the transformation was represented as the composition of a rigid body motion and a scale variation. In this work, we introduce a generalization of the object-based mapping that overcomes the definition of a shape for the virtual object. We consider only a set of reference points on the hands. We estimate a homogeneous transformation matrix that represents how the human hand motion changes its reference point positions. The same transformation is then imposed to the reference points on the robotic hand and the joints values obtained through a kinematic inversion technique. The mapping approach is suitable also for telemanipulation scenarios where the hand joint motions are combined with a wrist displacement.
Starting Page	5352
Ending Page	5357
File Size	1794803
Page Count	6
File Format	PDF
ISBN	9781479936854
DOI	10.1109/ICRA.2014.6907646
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-05-31
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Joints Kinematics Wrist Trajectory Robot kinematics Vectors
Content Type	Text
Resource Type	Article

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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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