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Hybrid mapping for the assistance of teleoperated grasping tasks

Autor
Colasanto, L.; Suarez, R.; Rosell, J.
Tipus d'activitat
Article en revista
Revista
IEEE transactions on systems man and cybernetics Part A-systems and humans
Data de publicació
2013-09-12
Volum
43
Número
2
Pàgina inicial
390
Pàgina final
401
DOI
https://doi.org/10.1109/TSMCA.2012.2195309 Obrir en finestra nova
Repositori
http://hdl.handle.net/2117/17845 Obrir en finestra nova
URL
http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6301775 Obrir en finestra nova
Resum
Teleoperating a robotic hand with the aid of a sensorized glove presents some particular problems. A certain problem is due to the kinematic differences between the human hand and the robotic hand, which do not allow a simple direct mapping of the sensor readings from the glove to the robotic hand. This problem is addressed with different types of mapping, but none of them is of general use. This paper proposes two new mappings within two existing mapping types, as well as a new hybrid mapping t...
Citació
Colasanto, L.; Suarez, R.; Rosell, J. Hybrid mapping for the assistance of teleoperated grasping tasks. "IEEE transactions on systems man and cybernetics Part A-systems and humans", Març 2013, vol. 43, núm. 2, p. 390-401.
Paraules clau
Fuzzy systems, grasping, robotic hands, sensorized gloves, teleoperation
Grup de recerca
SIR - Service and Industrial Robotics

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