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Development of the master hand for grasping information capturing

机译:掌握信息捕获的主手的发展

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Analysis of human hand grasp provides information that can be used to develop a grasping algorithm of robot hands that takes advantage of human knowledge and experience. In analysing the human hand grasp, not only motion of the fingers but also contact force acting on the fingertips should be measured. This paper presents a new master hand which can be attached to a human hand and measures motion of the human fingertips and contact force acting on the fingertips. Our purpose in developing the master hand is to clarify the strategy of a human hand grasp, which is subjected to the same physical constraints as those of a robot hand, and use the obtained information to develop a grasping algorithm of robot hands. Concepts of the development, mechanism and features of the master hand are described.
机译:人手掌握的分析提供了可用于开发一种利用人类知识和经验的机器人手掌握算法的信息。在分析人手掌握时,不仅可以测量手指的运动,而且还应测量作用在指尖上的接触力。本文介绍了一个新的主手,可以附着在人的手上,并衡量人的指尖和接触力作用在指尖上的运动。我们在开发主手的目的是阐明人手掌握的策略,这对作为机器人手相同的物理限制,并使用所获得的信息来开发机器人手的掌握算法。描述了主手的发展,机制和特征的概念。

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