TY - GEN
T1 - Multi-fingered telemanipulation - Mapping of a human hand to a three finger gripper
AU - Peer, Angelika
AU - Einenkel, Stephan
AU - Buss, Martin
PY - 2008
Y1 - 2008
N2 - If a teleoperation scenario foresees complex and fine manipulation tasks a multi-fingered telemanipulation system is required. In this paper a multi-fingered telemanipulation system is presented, whereby the human hand controls a three-finger robotic gripper and force feedback is provided by using an exoskeleton. Since the human hand and robotic grippers have different kinematic structures, appropriate mappings for forces and positions are applied. A point-to-point position mapping algorithm as well as a simple force mapping algorithm are presented and evaluated in a real experimental setup.
AB - If a teleoperation scenario foresees complex and fine manipulation tasks a multi-fingered telemanipulation system is required. In this paper a multi-fingered telemanipulation system is presented, whereby the human hand controls a three-finger robotic gripper and force feedback is provided by using an exoskeleton. Since the human hand and robotic grippers have different kinematic structures, appropriate mappings for forces and positions are applied. A point-to-point position mapping algorithm as well as a simple force mapping algorithm are presented and evaluated in a real experimental setup.
UR - https://www.scopus.com/pages/publications/52949105771
U2 - 10.1109/ROMAN.2008.4600710
DO - 10.1109/ROMAN.2008.4600710
M3 - Conference contribution
AN - SCOPUS:52949105771
SN - 9781424422135
T3 - Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
SP - 465
EP - 470
BT - Proceedings of the 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN
PB - IEEE Computer Society
T2 - 17th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2008
Y2 - 1 August 2008 through 3 August 2008
ER -