Optimized fingertip mapping for teleoperation of dextrous robot hands

Abstract

An optimized fingertip mapping (OFM) has been developed to teleoperate the Utah/MIT Dextrous Hand (UMDH) by a new hand master: the Utah Dextrous Hand Master (UDHM). This mapping matches both the master's fingertip positions and orientations by the robot fingers, and accounts for partially overlapping workspaces caused by kinematic dissimilarities between master and robot hands. The OFM generates robot hand poses by prioritizing the human fingertip position and orientation goals, and by minimizing the errors.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>