Teleoperation of the SCHUNK S5FH under-actuated anthropomorphic hand using human hand motion tracking
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- 作者：Ilaria Cerulo <sup>ilaria.cerulo@gmail.comsup>Author Vitae ; Fanny Ficuciello<sup> ; sup><sup>fanny.ficuciello@unina.itsup>Author Vitae ; Vincenzo Lippiello <sup>vincenzo.lippiello@unina.itsup>Author Vitae ; Bruno Siciliano <sup>bruno.siciliano@unina.itsup>Author Vitae
- 关键词：Hand fingers tracking ; Telemanipulation ; Postural synergies
- 刊名：Robotics and Autonomous Systems
- 出版年：2017
- 出版时间：March 2017
- 年：2017
- 卷：89
- 期：Complete
- 页码：75-84
- 全文大小：3343 K
- 卷排序：89
文摘
Remote control of an anthropomorphic robotic hand by tracking human hand motion. Enhance manipulation studies on the human hand and transfer them to robotic hands. A simplified human hand kinematic model is chosen according to the tracking method. A marker protocol solution that minimize the number of utilized markers is developed. An algorithm for dynamic labeling and accurate reconstruction of the movement.