Shared autonomy in a robot hand teleoperation system

@inproceedings{Michelman1994SharedAI,
  title={Shared autonomy in a robot hand teleoperation system},
  author={Paul Michelman and Peter K. Allen},
  booktitle={IROS},
  year={1994}
}
This paper considers adding autonomy to robot hands used in teleoperation systems. Currently, the finger positions of robot hands in teleoperation systems are controlled via a robot master using a Dataglove or exoskeleton. There are several difficulties with this approach: accurate calibration is hard to achieve; robot hands have different capabilities from human hands; and complex force reflection is difficult. In this paper, we propose a model of hand teleoperation in which the input device… CONTINUE READING
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