Hybrid Mapping Method:from Human to Robotic Hands with Dissimilar Kinematics
作者机构：State Key Laboratory of Robotics and SystemHarbin Institute of TechnologyHarbin 150080China
出 版 物：《Journal of Bionic Engineering》 (仿生工程学报（英文版）)
年 卷 期：2022年第19卷第4期
页 面：935-952页
核心收录：
学科分类：0710[理学-生物学] 0831[工学-生物医学工程（可授工学、理学、医学学位）] 080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0836[工学-生物工程] 0702[理学-物理学]
基 金：supported in part by the China National Key Research and Development Program under Grant no.2020YFC2007801 in part by the National Natural Science Foundation of China under Grant no.U1813209
主 题：Robotic hand Human-in-the-loop Grasping Postural synergy Impedance control
摘 要：Mapping grasps from human to anthropomorphic robotic hands is an open issue in research,because the master hand and the slave hand have dissimilar *** paper proposes a hybrid mapping method to solve this *** the proposed method,fingers in the master and the slave hands are divided into vital and synergic fingers according to their contribution to the grasping *** tip of the vital finger of the master hand is first mapped to that of the slave hand while ensuring that both are in simultaneous contact with the object to be *** postural synergy theory,joints of the other synergic fingers of the slave hand are then used to generate an anthropomorphic grasping configuration according to the shape of the object to be *** this,a human-guided impedance controller is used to reduce the pre-grasping error and realize compliant interaction with the *** proposed hybrid mapping method can not only generate the posture of the humanoid envelope but can also carry out impedance-adaptive *** was evaluated using simulations and an experiment involving an anthropomorphic robotic slave hand.
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