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This paper presents a multi-level speed planning based capturing strategy. A kind of widely used simultaneous three-fingered end-effectors is selected to conduct the capturing strategy research. The mechanical characteristics of the end-effector and the grapple process are analyzed first, followed by the dynamic model of the system. The capturing speed is planned with the information from the positional...
This paper presents a method for object shape recognition and the real-time grasping of unknown plane objects only using the positions information of robotic hand fingers. We aim to recover the shape, position and orientation of the grasped object by random five grasping points and the vision system in Cartesian space. A highly intelligent information fusion model which is combined with the expert...
In order to eliminate the drawbacks of conventional force feedback gloves, a new type of master hand has been developed. By utilizing three ??four-bar mechanism joint?? in series and wire coupling mechanism, the master finger transmission ratio is kept exact 1:1.4:1 in the whole movement range and it can make active motions in both extension and flexion direction. Additionally, to assure faster data...
The multi-DOF prosthetic hand's myocontrol needs to recognize more hand gestures (or motions) based on myoelectric signals. This paper presents a classification method, which is based on the support vector machine (SVM), to classify 19 different hand gesture modes through electromyographic (EMG) signals acquired from six surface myoelectric electrodes. All hand gestures are based on a 3-DOF configuration,...
In the force control of multi-functional prosthetic hands, it is important to extract grasp force information besides mode specifications directly from the myoelectric signals. In this paper, a force sensor is adopted to record the hand's enveloping force when the hand is performing several grasp modes, synchronously with 6 channels surface electromyography (EMG) which are extracting from the subject's...
In this paper, a new type of master finger in exoskeleton type has been developed to implement master-slave operation for DLR/HIT dexterous hand. The finger has three novel characteristics. Firstly, the exoskeleton mechanism uses ldquofour-bar mechanism jointrdquo, which rotates about an instant center that coincides with joint center of operator's finger. Secondly, the master finger can distinguish...
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