Paper Info
Title
A supervisory control system for a multi-fingered robotic hand using datagloves and a haptic device
Abstract
This paper describes a supervisory control system for a multi-fingered robotic hand. The proposed method enables a slave robotic hand to grasp an object in a remote environment in several ways, manipulate it, and mimic several non-grasping motions. The key components of the proposed control system are a grasping selector in the master system and motion controllers and a controller selector in the slave system. The grasping selector learns to detect motions commanded by an operator using datagloves. We developed two methods to learn the operator's hand shapes, one that prioritizes the learning time and one that prioritizes the probability of correct detection. The controller selector determines the current command and awaits a transition, while the motion controllers stably realize the currently commanded motion. We have demonstrated the stable operation of a three-fingered robotic hand using the proposed method.
Year
DOI
Venue
2012
10.1109/IROS.2012.6385486
IROS
Keywords
Field
DocType
multifingered robotic hand,data gloves,motion control,supervisory control system,grasping selector,scada systems,dexterous manipulators,motion detection,three-fingered robotic hand,motion controllers,remote environment,controller selector,telerobotics,slave robotic hand,haptic device,robots,shape,control systems
Control theory,Motion control,GRASP,Supervisory control,Control theory,Computer science,Control engineering,Control system,Robot,Telerobotics,Haptic technology
Conference
ISSN
ISBN
Citations 
2153-0858
978-1-4673-1737-5
2
PageRank 
References 
Authors
0.41
13
2
Name
Order
Citations
PageRank
Yohtaro Yoshimura160.81
Ryuta Ozawa223028.12