A virtual circle method for kinematic mapping human hand to a non-anthropomorphic robot

Abstract

An investigation was initiated on the study of the kinematic mapping between human hand and the non-anthropomorphic robot hand. To account for the significant dissimilarities between them, a "virtual circle mapping" method has been developed based on the fingertips' relative positions. The principle of the method is to find suitable parameters in the hand frame, transform them to the robot frame, and then compute the robot fingertip positions according to the transformed parameters. The preliminary results and the comparison with the point-to-point mapping results are presented and analyzed. The generalization of the relative-position based mapping idea is also discussed.