Research of Teleoperation Grasping Control Method Based on Three-fingered Dexterous Hand

Abstract

Aiming at the problem of remote grasping operation control of operating robot system in harsh and dangerous environment and improving the ability of remote grasping, a three-fingered reconfigurable underactuated dexterous hand is developed, which can adaptively grasp diffirent shapes of targets. By establishing the mapping relationship between five-fingered data glove and three-index hand, a telemetry control method by wearing five-fingered data glove to manipulate three-fingered modular underactuated dexterous hand is proposed. Experiments verify the rationality of the man-in-the-loop remote operation control method.