Sparse Eigenmotions derived from daily life kinematics implemented on a dextrous robotic hand

摘要

Our hands are considered one of the most complex to control actuated systems, thus, emulating the manipulative skills of real hands is still an open challenge even in anthropomorphic robotic hand. While the action of the 4 long fingers and simple grasp motions through opposable thumbs have been successfully implemented in robotic designs, complex in-hand manipulation of objects was difficult to achieve. We take an approach grounded in data-driven extraction of control primitives from natural human behaviour to develop novel ways to understand the dexterity of hands. We collected hand kinematics datasets from natural, unconstrained human behaviour of daily life in 8 healthy in a studio flat environment. We then applied our Sparse Motion Decomposition approach to extract spatio-temporally localised modes of hand motion that are both time-scale and amplitude-scale invariant. These Sparse EigenMotions (SEMs)[1] form a sparse symbolic code that encodes continuous hand motions. We mechanically implemented the common SEMs on our novel dexterous robotic hand [2] in open-loop control. We report that without processing any feedback during grasp control, several of the SEMs resulted in stable grasps of different daily life objects. The finding that SEMs extracted from daily life implement stable grasps in open-loop control of dexterous hands, lends further support for our hypothesis the brain controls the hand using sparse control strategies.