期刊
IEEE TRANSACTIONS ON ROBOTICS
卷 29, 期 1, 页码 82-93出版社
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TRO.2012.2217675
关键词
Biologically inspired robots; grasping; kinematics; multifingered hands; rehabilitation robotics
类别
资金
- European Union (EU) IST FP7 Integrated Project: Topology Based Motion Synthesis for Dexterous Manipulation
- EU European Research Council project: Flexible object manipulation through statistical learning and topological representations
- Swedish Foundation for Strategic Research
We propose a metric for comparing the anthropomorphic motion capability of robotic and prosthetic hands. The metric is based on the evaluation of how many different postures or configurations a hand can perform by studying the reachable set of fingertip poses. To define a benchmark for comparison, we first generate data with human subjects based on an extensive grasp taxonomy. We then develop a methodology for comparison using generative, nonlinear dimensionality reduction techniques. We assess the performance of different hands with respect to the human hand and with respect to each other. The method can be used to compare other types of kinematic structures.
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