Dexterous skills transfer by extending human body schema to a robotic hand

Erhan Oztop; Li Heng Lin; Mitsuo Kawato; Gordon Cheng

doi:10.1109/ICHR.2006.321367

Dexterous skills transfer by extending human body schema to a robotic hand

Erhan Oztop, Li Heng Lin, Mitsuo Kawato, Gordon Cheng

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

24 Scopus citations

Abstract

We propose a framework for skills transfer to robots, exploiting the plasticity of the human brain in representing its body parts - the body schema. The conceptual idea is, in the first stage, to incorporate the target robotic platform into the experimenter's neural representation of his/her own body. In the second stage, the dexterity on a task exhibited with the new external limb -the robot- then can be used for imitation or designing controllers for the task under consideration. In this study, following the steps outlined, we show how dexterous skill transfer can be achieved on a 16-DOF robotic hand, justifying the effectiveness of the proposed method and confirming the flexibility of the human brain in representing the body schema.

Original language	English
Title of host publication	Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS
Pages	82-87
Number of pages	6
DOIs	https://doi.org/10.1109/ICHR.2006.321367
State	Published - 2006
Externally published	Yes
Event	2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS - Genoa, Italy Duration: 4 Dec 2006 → 6 Dec 2006

Publication series

Name	Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS

Conference

Conference	2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS
Country/Territory	Italy
City	Genoa
Period	4/12/06 → 6/12/06

Keywords

Body schema
Hand control
Skill transfer

Access to Document

10.1109/ICHR.2006.321367

Cite this

Oztop, E., Lin, L. H., Kawato, M., & Cheng, G. (2006). Dexterous skills transfer by extending human body schema to a robotic hand. In Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS (pp. 82-87). Article 4115584 (Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS). https://doi.org/10.1109/ICHR.2006.321367

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title = "Dexterous skills transfer by extending human body schema to a robotic hand",

abstract = "We propose a framework for skills transfer to robots, exploiting the plasticity of the human brain in representing its body parts - the body schema. The conceptual idea is, in the first stage, to incorporate the target robotic platform into the experimenter's neural representation of his/her own body. In the second stage, the dexterity on a task exhibited with the new external limb -the robot- then can be used for imitation or designing controllers for the task under consideration. In this study, following the steps outlined, we show how dexterous skill transfer can be achieved on a 16-DOF robotic hand, justifying the effectiveness of the proposed method and confirming the flexibility of the human brain in representing the body schema.",

keywords = "Body schema, Hand control, Skill transfer",

author = "Erhan Oztop and Lin, {Li Heng} and Mitsuo Kawato and Gordon Cheng",

year = "2006",

doi = "10.1109/ICHR.2006.321367",

language = "English",

isbn = "142440200X",

series = "Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS",

pages = "82--87",

booktitle = "Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS",

note = "2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS ; Conference date: 04-12-2006 Through 06-12-2006",

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Oztop, E, Lin, LH, Kawato, M & Cheng, G 2006, Dexterous skills transfer by extending human body schema to a robotic hand. in Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS., 4115584, Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS, pp. 82-87, 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS, Genoa, Italy, 4/12/06. https://doi.org/10.1109/ICHR.2006.321367

Dexterous skills transfer by extending human body schema to a robotic hand. / Oztop, Erhan; Lin, Li Heng; Kawato, Mitsuo et al.
Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS. 2006. p. 82-87 4115584 (Proceedings of the 2006 6th IEEE-RAS International Conference on Humanoid Robots, HUMANOIDS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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Dexterous skills transfer by extending human body schema to a robotic hand

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