Regeneration of natural grasp prehensions on underactuated robot‐hand through kinaesthetic guidance
Grasping postures on a human hand are generated by an effective combination of spatial motions and contact forces on individual finger linkages. The rich kinematic redundancy within its anatomy, poses critical control challenges, while emulating natural prehensile actions. A simplified grasp‐formula...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
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Wiley
2017-03-01
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| Series: | Electronics Letters |
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| Online Access: | https://doi.org/10.1049/el.2016.3678 |
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| author | R. Chattaraj S. Khan D.G. Roy B. Bepari S. Bhaumik |
| author_facet | R. Chattaraj S. Khan D.G. Roy B. Bepari S. Bhaumik |
| author_sort | R. Chattaraj |
| collection | DOAJ |
| description | Grasping postures on a human hand are generated by an effective combination of spatial motions and contact forces on individual finger linkages. The rich kinematic redundancy within its anatomy, poses critical control challenges, while emulating natural prehensile actions. A simplified grasp‐formulation resolution is presented, by proposing a virtual‐object imagery to define generic grasp enaction sequences. The same are conceived and controlled by a set of contact points on the imagined grasp‐sphere, whose spatial conformation is guided by a serial‐haptic interface. The kinaesthetic cognitions along with visual feed to an operator ushers a reliable framework for grasp execution and transfer to a robot hardware without resorting to supplementary mapping mechanisms. Stable grasps on the anthropomorphic robot set‐up portrays a systematic procedure to transcribe human‐like postural attributes, aided with somesthetic and visual sensations that are anticipated to steer remote operator controls. |
| format | Article |
| id | doaj-art-d17102faeb984f599b790e99d4d431f7 |
| institution | Kabale University |
| issn | 0013-5194 1350-911X |
| language | English |
| publishDate | 2017-03-01 |
| publisher | Wiley |
| record_format | Article |
| series | Electronics Letters |
| spelling | doaj-art-d17102faeb984f599b790e99d4d431f72025-02-05T12:30:42ZengWileyElectronics Letters0013-51941350-911X2017-03-0153531431610.1049/el.2016.3678Regeneration of natural grasp prehensions on underactuated robot‐hand through kinaesthetic guidanceR. Chattaraj0S. Khan1D.G. Roy2B. Bepari3S. Bhaumik4School of Mechatronics and RoboticsIIEST ShibpurHowrahIndiaDepartment of AEIERCCIIT KolkataKolkataIndiaSchool of Mechatronics and RoboticsIIEST ShibpurHowrahIndiaDepartment of Production EngineeringHIT HaldiaHatiberiaIndiaSchool of Mechatronics and RoboticsIIEST ShibpurHowrahIndiaGrasping postures on a human hand are generated by an effective combination of spatial motions and contact forces on individual finger linkages. The rich kinematic redundancy within its anatomy, poses critical control challenges, while emulating natural prehensile actions. A simplified grasp‐formulation resolution is presented, by proposing a virtual‐object imagery to define generic grasp enaction sequences. The same are conceived and controlled by a set of contact points on the imagined grasp‐sphere, whose spatial conformation is guided by a serial‐haptic interface. The kinaesthetic cognitions along with visual feed to an operator ushers a reliable framework for grasp execution and transfer to a robot hardware without resorting to supplementary mapping mechanisms. Stable grasps on the anthropomorphic robot set‐up portrays a systematic procedure to transcribe human‐like postural attributes, aided with somesthetic and visual sensations that are anticipated to steer remote operator controls.https://doi.org/10.1049/el.2016.3678natural grasp prehension regenerationunderactuated robot‐handkinaesthetic guidancegrasping postureshuman handspatial motions |
| spellingShingle | R. Chattaraj S. Khan D.G. Roy B. Bepari S. Bhaumik Regeneration of natural grasp prehensions on underactuated robot‐hand through kinaesthetic guidance Electronics Letters natural grasp prehension regeneration underactuated robot‐hand kinaesthetic guidance grasping postures human hand spatial motions |
| title | Regeneration of natural grasp prehensions on underactuated robot‐hand through kinaesthetic guidance |
| title_full | Regeneration of natural grasp prehensions on underactuated robot‐hand through kinaesthetic guidance |
| title_fullStr | Regeneration of natural grasp prehensions on underactuated robot‐hand through kinaesthetic guidance |
| title_full_unstemmed | Regeneration of natural grasp prehensions on underactuated robot‐hand through kinaesthetic guidance |
| title_short | Regeneration of natural grasp prehensions on underactuated robot‐hand through kinaesthetic guidance |
| title_sort | regeneration of natural grasp prehensions on underactuated robot hand through kinaesthetic guidance |
| topic | natural grasp prehension regeneration underactuated robot‐hand kinaesthetic guidance grasping postures human hand spatial motions |
| url | https://doi.org/10.1049/el.2016.3678 |
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