Dexterous Robot Hand Control with Data Glove by Human Imitation(Robot and Interface,<Special Section>Human Communication II)

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概要

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• The purpose of the study is to obtain the automatic and optimal matching between a motion-measurement device such as a data glove and an output device such as a dexterous robot hand, where there are many differences in the numbers of degree of freedom, sensor and actuator positions, and data format, by means of motion imitation by the humans. Through the algorithm proposed here, a system engineer or user need no labor of determining the values of gains and parameters to be used. In the system, a subject with data glove imitated the same motion with a dexterous robot hand which was moving according to a certain mathematical function. Autoregressive models were adapted to the matching, where each joint angle in the robot and data glove data of the human were used as object and explanatory variables respectively. The partial regression coefficients were estimated by means of singular value decomposition with a system-noise reduction algorithm utilizing statistical properties. The experimental results showed that the robot hand was controlled with high accuracy with small delay, suggesting that the method proposed in this study is proper and easy way and is adaptive to many other systems between a pair of motion-measurement device and output device.

• 社団法人電子情報通信学会の論文
• 2006-06-01

著者

• Hoshino Kiyoshi

  Graduate School Of Systems And Information Engineering University Of Tsukuba

関連論文

• Realtime Hand Posture Estimation with Self-Organizing Map for Stable Robot Control(Robot and Interface,Human Communication II)
• Control of Speed and Power in a Humanoid Robot Arm Using Pneumatic Actuators for Human-Robot Coexisting Environment
• Dexterous Robot Hand Control with Data Glove by Human Imitation(Robot and Interface,Human Communication II)

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