A Virtual Circle Method for Kinematic Mapping from Human Hand to a Non-Anthropomorp hic Robot Hand

摘要

An investigati on was initiated on the study of the kinematic mapping between human hand and the non-anthro pomorphic robot hand. To acc ount for the significant dissimilarities between them, a Vir­ tual Circle Mapping method has been developed based on the fingertips' relative positions. The prin­ ciple of the method is to find sui table parameters in the hand frame, transform them to the robot frame, and then compute the robot fingertip posi­ tions according to the transformed parameters. The preliminary results and the comparison with the point-to-point m<tpping results are presented and an­ alyzed. The generalization of the relative-positio n based mapping idea is also discussed.