Mapping Synergies From Human to Robotic Hands With Dissimilar Kinematics: An Approach in the Object Domain

摘要: One of the major limitations to use advanced robotic hands in industries is complexity control system design due large number motors needed actuate their degrees freedom. It our belief that development a unified framework for will allow us extend these devices many areas. Borrowing terminology from software engineering, there need middleware solutions independently specific kinematics and focus only on manipulation tasks. To simplify generalize hands, we take inspiration studies neuroscience concerning sensorimotor organization human hand. These demonstrated that, notwithstanding hand, few variables are able account most variance patterns configurations movements. The reduced set parameters humans effectively which known literature as synergies, can represent words language provided solve problem mapping hand synergies actions hands. In this study, propose designed manipulated object domain order ensure high level generality with respect dissimilar role played by virtual sphere, whose radius center position change dynamically, model referred “paradigmatic hand,” capture idea