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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Shao-Chun Sun Rosales, C. Suárez, R. |
| Copyright Year | 2010 |
| Description | Author affiliation: National Lab of Mechatronic Engineering and Control, Beijing Institute of Technology, 100081, China (Shao-Chun Sun) || Institute of Industrial and Control Engineering, Universitat Politècnica de Catalunya, Barcelona, Catalonia, Spain (Rosales, C.; Suárez, R.) |
| Abstract | This paper presents an acquisition method that comprehensively looks for the mimic configurations of the human hand. The data obtained through this process is further analyzed, transformed, and then used to synthesize a reduced configuration space of a robot anthropomorphic hand. The method rely on a dimensionality reduction technique that provides a new basis of the full configuration space, from which one can select a subset of the vectors forming that basis, and finally obtaining a simpler configuration subspace. These vectors are called Principal Motion Directions, and represent the coordinated motions captured by a sensorized glove on a human hand and transferred to the robot hand. The characteristics and limitations of the subspace are discussed, as well as its application in several scenarios within robotics such as the motion planning of robot hands, where the subspace has been successfully implemented and executed. |
| Starting Page | 776 |
| Ending Page | 781 |
| File Size | 877502 |
| Page Count | 6 |
| File Format | |
| ISBN | 9781424457014 |
| e-ISBN | 9781424457045 |
| DOI | 10.1109/ICINFA.2010.5512463 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2010-06-20 |
| Publisher Place | China |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | hands Humans Anthropomorphism Robotics and automation Orbital robotics configuration space Service robots Robot kinematics Fingers Robot sensing systems principle component analysis (PCA) motion capture Motion analysis Principal component analysis |
| Content Type | Text |
| Resource Type | Article |
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