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Title: Towards complex and continuous manipulation : a gesture based anthropomorphic robotic hand design
Authors: Tian, Li
Li, Hanhui
Wang, Qifa
Du, Xuezeng
Tao, Jialin
Chong, Jordan Sia
Thalmann, Nadia Magnenant
Zheng, Jianmin
Keywords: Engineering::Mechanical engineering::Robots
Engineering::Computer science and engineering
Issue Date: 2021
Source: Tian, L., Li, H., Wang, Q., Du, X., Tao, J., Chong, J. S., Thalmann, N. M. & Zheng, J. (2021). Towards complex and continuous manipulation : a gesture based anthropomorphic robotic hand design. IEEE Robotics and Automation Letters, 6(3), 5461-5468.
Journal: IEEE Robotics and Automation Letters
Abstract: Most current anthropomorphicrobotic hands can realize part of the human hand functions, particularly for object grasping. However, due to the complexity of the human hand, few current designs target at daily object manipulations, even for simple actions like rotating a pen. To tackle this problem, we introduce a gesture based framework, which adopts the widely-used 33 grasping gestures of Feix as the bases for hand design and implementation of manipulation. In the proposed framework, we first measure the motion ranges of human fingers for each gesture, and based on the results, we propose a simple yet dexterous robotic hand design with 13 degrees of actuation. Furthermore, we adopt a frame interpolation based method, in which we consider the base gestures as the key frames to represent a manipulation task, and use the simple linear interpolation strategy to accomplish the manipulation. To demonstrate the effectiveness of our framework, we define a three-level benchmark, which includes not only 62 test gestures from previous research, but also multiple complex and continuous actions. Experimental results on this benchmark validate the dexterity of the proposed design and our video is available in
ISSN: 2377-3766
DOI: 10.1109/LRA.2021.3076960
Rights: © 2021 IEEE. All rights reserved.
Fulltext Permission: none
Fulltext Availability: No Fulltext
Appears in Collections:EEE Journal Articles
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