Optimized Fingertip Mapping:A General Algorithm for Robotic Hand Teleoperation

@article{Rohling1993OptimizedFM,
  title={Optimized Fingertip Mapping:A General Algorithm for Robotic Hand Teleoperation},
  author={Robert Rohling and John M. Hollerbach and Stephen C. Jacobsen},
  journal={Presence: Teleoperators & Virtual Environments},
  year={1993},
  volume={2},
  pages={203-220}
}
An optimized fingertip mapping (OFM) algorithm has been developed to transform human hand poses into robot hand poses. It has been implemented to teleoperate the Utah/MIT Dextrous Hand by a new hand master: the Utah Dextrous Hand Master. The keystone of the algorithm is the mapping of both the human fingertip positions and orientations to the robot fingers. Robot hand poses are generated by minimizing the errors between desired human fingertip positions and orientations and possible robot… CONTINUE READING
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