Relative position-based mapping for telemanipulation of dexterous robot hands

Abstract

Three methods have been commonly used for telemanipulation: joint angle mapping, pose mapping and fingertip position mapping. However, none of the methods result in satisfactory performance if the robot hand is non-anthropomorphic. This paper introduces a, new concept for mapping based on the relative positions between fingertips. A brief implementation of this method for three-fingered robot hand is presented, followed by two case studies. By transferring the information of relative positions from human hand to robot hand, the proposed method is able to produce better results if compared with those of fingertip position mapping.