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grasp recognition.

Robotica (1)

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Master-slave hand system of different structures, grasp recognition by neural network and grasp mapping
Tytus Wojtara, Kenzo Nonami, Hui Shao, Ryohei Yuasa, Shingo Amano, Yasukazu Nobumoto
Journal:

Robotica / Volume 22 / Issue 4 / August 2004

Published online by Cambridge University Press:

26 November 2004, pp. 449-454
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This article is proposing a grasp recognition and grasp mapping method for a land mine clearance master-slave system. The system consists of a data glove and a powerful hydraulic hand. Because of the different structure of the master and slave hand a mapping from master grasp to slave grasp has to be implemented. The paper presents a grasp recognition method by Neural Network (NN) and a mapping method. The introduced mapping method allows the operator more intuitive grasping.