Kinematic Mapping and Calibration of the Thumb Motions for Teleoperating a Humanoid Robot Hand
Mapping and calibration from a human hand to a robot hand pose a challenge due to their differences in kinematic structures. This paper uses the CyberGlove® as the input device for telemanipulating an object with the thumb and the index finger of the Shadow® Dexterous Hand™, with the focus not only...
| Main Authors: | , , |
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| Format: | Conference Paper |
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ASME Press
2011
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| Subjects: | |
| Online Access: | http://hdl.handle.net/20.500.11937/44750 |
| _version_ | 1848757091011919872 |
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| author | Cui, Lei Cupcic, U. Dai, J. |
| author2 | Primo Zingaretti |
| author_facet | Primo Zingaretti Cui, Lei Cupcic, U. Dai, J. |
| author_sort | Cui, Lei |
| building | Curtin Institutional Repository |
| collection | Online Access |
| description | Mapping and calibration from a human hand to a robot hand pose a challenge due to their differences in kinematic structures. This paper uses the CyberGlove® as the input device for telemanipulating an object with the thumb and the index finger of the Shadow® Dexterous Hand™, with the focus not only on the position but also on the orientation of the thumb fingertip because it is found through experiments conducted on the Shadow Hand that the calibration of tip position alone can lead to unacceptable grasping postures. This paper develops an experiment protocol and proposes a nonlinear optimization formulation that makes the normals of the surfaces of the thumb and index fingertips within the friction cone while subject to fingertip position constraint. The results are verified to be accurate enough to conduct the telemanipulation. |
| first_indexed | 2025-11-14T09:22:34Z |
| format | Conference Paper |
| id | curtin-20.500.11937-44750 |
| institution | Curtin University Malaysia |
| institution_category | Local University |
| last_indexed | 2025-11-14T09:22:34Z |
| publishDate | 2011 |
| publisher | ASME Press |
| recordtype | eprints |
| repository_type | Digital Repository |
| spelling | curtin-20.500.11937-447502017-09-13T14:13:04Z Kinematic Mapping and Calibration of the Thumb Motions for Teleoperating a Humanoid Robot Hand Cui, Lei Cupcic, U. Dai, J. Primo Zingaretti teleoperation mapping calibration Robot hand Mapping and calibration from a human hand to a robot hand pose a challenge due to their differences in kinematic structures. This paper uses the CyberGlove® as the input device for telemanipulating an object with the thumb and the index finger of the Shadow® Dexterous Hand™, with the focus not only on the position but also on the orientation of the thumb fingertip because it is found through experiments conducted on the Shadow Hand that the calibration of tip position alone can lead to unacceptable grasping postures. This paper develops an experiment protocol and proposes a nonlinear optimization formulation that makes the normals of the surfaces of the thumb and index fingertips within the friction cone while subject to fingertip position constraint. The results are verified to be accurate enough to conduct the telemanipulation. 2011 Conference Paper http://hdl.handle.net/20.500.11937/44750 10.1115/DETC2011-47728 ASME Press restricted |
| spellingShingle | teleoperation mapping calibration Robot hand Cui, Lei Cupcic, U. Dai, J. Kinematic Mapping and Calibration of the Thumb Motions for Teleoperating a Humanoid Robot Hand |
| title | Kinematic Mapping and Calibration of the Thumb Motions for Teleoperating a Humanoid Robot Hand |
| title_full | Kinematic Mapping and Calibration of the Thumb Motions for Teleoperating a Humanoid Robot Hand |
| title_fullStr | Kinematic Mapping and Calibration of the Thumb Motions for Teleoperating a Humanoid Robot Hand |
| title_full_unstemmed | Kinematic Mapping and Calibration of the Thumb Motions for Teleoperating a Humanoid Robot Hand |
| title_short | Kinematic Mapping and Calibration of the Thumb Motions for Teleoperating a Humanoid Robot Hand |
| title_sort | kinematic mapping and calibration of the thumb motions for teleoperating a humanoid robot hand |
| topic | teleoperation mapping calibration Robot hand |
| url | http://hdl.handle.net/20.500.11937/44750 |