In the frame of teleoperation based on the hidden robot concept [7], this paper addresses the control problem which matters human hand mapping to any robot gripper during robot free motions and robot pre-grasping phases. First, a brief presentation of the teleoperation scheme is presented. Then previous control mapping solutions are introduced and their drawbacks, when being applied to teleoperation, are discussed. The presented solution deals with the eventual difference of the degrees of freedom, fingers kinematics dissimilarities, the difference between the number of fingers and, real-time mapping requirements. Here, the mapping is achieved in two steps: gross mapping and fine mapping. The first mapping Step, coarse mapping, is derived from previous hand taxonomy studies. It is based on the opposition space and the virtual fingers principles. Fine mapping, the second mapping step, is done using the artificial potential-field approach where the global gross mapping is an attractive potential forces whereas the object to be grasped generates repulsive potential forces to guarantee obstacle avoidance in the shaping and pre-grasping phases.
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