Paper Info
Title
Dexterous Robot Hand Control with Data Glove by Human Imitation
Abstract
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.
Year
DOI
Venue
2006
10.1093/ietisy/e89-d.6.1820
IEICE Transactions
Keywords
Field
DocType
dexterous robot hand control,system engineer,motion-measurement device,data glove data,human imitation,optimal matching,dexterous robot hand,data glove,data format,motion imitation,robot hand,output device,autoregressive models,singular value decomposition
Autoregressive model,Computer vision,Output device,Motion control,Wired glove,Optimal matching,Computer science,Artificial intelligence,Robot,Robotics,Actuator
Journal
Volume
Issue
ISSN
E89-D
6
0916-8532
Citations 
PageRank 
References 
3
0.50
0
Authors
1
Name
Order
Citations
PageRank
Kiyoshi Hoshino16122.33