Hostname: page-component-78c5997874-lj6df Total loading time: 0 Render date: 2024-11-13T04:03:44.635Z Has data issue: false hasContentIssue false
  • English
  • Français

Master-slave hand system of different structures, grasp recognition by neural network and grasp mapping

Published online by Cambridge University Press:  26 November 2004

Tytus Wojtara ,
Kenzo Nonami ,
Hui Shao ,
Ryohei Yuasa ,
Shingo Amano  and
Yasukazu Nobumoto
Tytus Wojtara
Affiliation:
Graduate School of Science and Technology, Chiba University, Yayoi-cho 1-33, Inage-ku, Chiba-shi 263-8522 (Japan).
Kenzo Nonami
Affiliation:
Department of Electronics and Mechanical Engineering, Chiba Univ., Yayoi-cho 1-33, Inage-ku, Chiba-shi 263-8522 (Japan).
Hui Shao
Affiliation:
Graduate School of Science and Technology, Chiba University, Yayoi-cho 1-33, Inage-ku, Chiba-shi 263-8522 (Japan).
Ryohei Yuasa
Affiliation:
Graduate School of Science and Technology, Chiba University, Yayoi-cho 1-33, Inage-ku, Chiba-shi 263-8522 (Japan).
Shingo Amano
Affiliation:
Department of Electronics and Mechanical Engineering, Chiba Univ., Yayoi-cho 1-33, Inage-ku, Chiba-shi 263-8522 (Japan).
Yasukazu Nobumoto
Affiliation:
Fuji Heavy Industries LTD., Oosawa 3-9-6, Mitaka-shi, Tokyo 181-8577 (Japan).
Get access Rights & Permissions [Opens in a new window]

Abstract

This article is proposing a grasp recognition and grasp mapping method for a land mine clearance master-slave system. The system consists of a data glove and a powerful hydraulic hand. Because of the different structure of the master and slave hand a mapping from master grasp to slave grasp has to be implemented. The paper presents a grasp recognition method by Neural Network (NN) and a mapping method. The introduced mapping method allows the operator more intuitive grasping.

Keywords

Master-slaveRobot handGrasp mappingGrasp recognition.
Type
Research Article
Information
Robotica , Volume 22 , Issue 4 , August 2004 , pp. 449 - 454
Copyright
2004 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)