Commanding an Anthropomorphic Robotic Hand with Motion Capture Data

摘要

This paper describes a method of commanding a five-fingered anthropomorphic robotic hand through the use of data obtained from a motion-capture marker instrumented glove. The kinematics and dynamics of the robotic hand are first presented. This is followed by a description of the joint space control scheme that the hand is using. The inverse kinematics solution for the robotic hand is then presented in terms of the location of the LED point markers on the motion-capture glove. The paper concludes with a presentation of experimental results obtained by using the motion capture data to command a dynamical simulation of the robotic hand.