在操纵物体时获得舒适的手部配置

A. Montano, R. Suárez
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引用次数: 5

摘要

提出了一种基于触觉信息和力反馈的未知物体操纵方法。物体操作是使用Shunck灵巧手的两个手指进行的,该灵巧手的指尖上配备了触觉传感器。每个指尖上的接触点使用虚拟关节建模,该关节为手指增加了虚拟自由度。该方法利用触觉数据和手部运动学信息来估计抓取质量指标,并在初始抓取后对手指进行调整,以提高手部舒适度。该方法在真实的传感手中实现,文中给出了一些操纵不同物体的例子,展示了结果质量的演变。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Getting comfortable hand configurations while manipulating an object
The paper presents an approach to manipulate unknown objects based on tactile information and force feedback. The object manipulation is performed using two fingers of the Shunck Dexterous Hand, which is equipped with tactile sensors on the fingertips. The contact point on each fingertip is modeled using a virtual articulation which adds a virtual degree of freedom to the finger. The approach uses the tactile data and hand kinematics information in order to estimate a grasp quality measure and to make finger adjustments after an initial grasp in order to improve the hand comfort. The approach was implemented in a real sensorized hand, and some examples manipulating different objects are presented in the paper showing the evolution of the resulting quality.
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