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Robert N. Rohling
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Journal Articles
Publisher: Journals Gateway
Presence: Teleoperators and Virtual Environments (1993) 2 (4): 281–296.
Published: 01 November 1993
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Determination of human hand poses from hand master measurements of joint angles requires an accurate human hand model for each operator. A new method for human hand calibration is proposed, based on open-loop kinematic calibration. The parameters of a kinematic model of the human index finger are determined as an example. Singular value decomposition is used as a tool for analyzing the kinematic model and the identification process. It was found that accurate and reliable results are obtained only when the numerical condition is minimized through parameter scaling, model reduction and pose set selection. The identified kinematic parameters of the index finger with the Utah Dextrous Hand Master show that the kinematic model and the calibration procedure have an accuracy of about 2 mm.
Journal Articles
Publisher: Journals Gateway
Presence: Teleoperators and Virtual Environments (1993) 2 (3): 203–220.
Published: 01 August 1993
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An optimized fingertip mapping (OFM) algorithm has been developed to transform human hand poses into robot hand poses. It has been implemented to teleoperate the Utah/MIT Dextrous Hand by a new hand master: the Utah Dextrous Hand Master. The keystone of the algorithm is the mapping of both the human fingertip positions and orientations to the robot fingers. Robot hand poses are generated by minimizing the errors between desired human fingertip positions and orientations and possible robot fingertip positions and orientations. Differences in the fingertip workspaces that arise from kinematic dissimilarities between the human and robot hands are accounted for by the use of a priority based mapping strategy. The OFM gives first priority to the human fingertip position goals and the second to orientation.