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LMS robotic hand grasp and manipulation planning (an isomorphic exoskeleton approach)

Published online by Cambridge University Press:  01 March 2008

D. Chaigneau ,
M. Arsicault ,
J.-P. Gazeau  and
S. Zeghloul
D. Chaigneau
Affiliation:
Laboratoire de Mécanique des Solides (LMS), UMR CNRS 6610, Université de Poitiers, SP2MI, 2 Bd Pierre et Marie Curie, BP 30179, 86962 Futuroscope Chasseneuil Cedex, France
M. Arsicault*
Affiliation:
Laboratoire de Mécanique des Solides (LMS), UMR CNRS 6610, Université de Poitiers, SP2MI, 2 Bd Pierre et Marie Curie, BP 30179, 86962 Futuroscope Chasseneuil Cedex, France
J.-P. Gazeau
Affiliation:
Laboratoire de Mécanique des Solides (LMS), UMR CNRS 6610, Université de Poitiers, SP2MI, 2 Bd Pierre et Marie Curie, BP 30179, 86962 Futuroscope Chasseneuil Cedex, France
S. Zeghloul
Affiliation:
Laboratoire de Mécanique des Solides (LMS), UMR CNRS 6610, Université de Poitiers, SP2MI, 2 Bd Pierre et Marie Curie, BP 30179, 86962 Futuroscope Chasseneuil Cedex, France
*
*Corresponding author. E-mail: Marc.Arsicault@lms.univ-poitiers.fr
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Summary

In order to widen the potentialities of manipulation of the Laboratoire de Mécanique des solides (LMS) mechanical hand, we developed a new planning approach based on the use of a specific exoskeleton. This one has kinematics architecture and dimensions identical to the mechanical hand. This feature allows us to obtain manipulation trajectories for the mechanical hand, very easily and very quickly, by using the exoskeleton, without complex calibration. Manipulation's trajectories are replayed offline with an autonomous control, and, consequently, the exoskeleton is not used with any feedback strategy for telemanipulation. This paper presents the characteristics of this exoskeleton and the graphic interface that we developed. This one uses a method to determine the object's evolution during the manipulation with the exoskeleton, without using exteroceptive sensors. This new approach was tested for standard trajectories by simulation on a Computer-aided design (CAD) robotics system and by using the mechanical hand. Thus, we validate the use concept of an isomorphic exoskeleton to mechanical hand for manipulation planning with the LMS mechanical hand.

Keywords

Dexterous handExoskeleton handManipulation task
Type
Article
Information
Robotica , Volume 26 , Issue 2 , March 2008 , pp. 177 - 188
Copyright
Copyright © Cambridge University Press 2007

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