Tele-operation of robot hand exploiting human hand synergy

摘要

During past two decades many efforts have been made by different researchers in developing robotic grippers. Some of these grippers are robust and used for handling large objects. On the contrary, certain grippers are adroit enough even to handle biological cells. Wide varieties of grippers are now-a-days available featuring different kinematic ability, dexterity, mode of actuation, usage of sensors, maximum weight carrying capabilities and many more attributes. But they all accord to a single issue, i.e. inspiration. Essentially the goal of developing grippers focuses mainly on the manipulation ability of the human hand. In this paper a novel approach to control a robot hand in leader-follower configuration using input from a RGB+D camera has been discussed. Human hand synergy has been exploited in motion capture and subsequently in mapping. This works tries to bring the motion capture and mapping of human hand motion to robot hand (which may vary with each other with respect to kinematics) into a single platform.