In this paper we describe a system that combines human input and automatic grasp planning for controlling an artificial hand, with applications in the area of hand neuroprosthetics. We consider the case where a user attempts to grasp an object using a robotic hand, but has no direct control over the hand posture. An automated grasp planner searches for stable grasps of the target object and sha...

Dexterous grasping of a novel object given single view is an open problem. This paper makes several contributions to its solution. First, we present simulator for generating and testing dexterous grasps. Second data set, generated by this simulator, 2.4 million simulated grasps variations 294 base objects drawn from 20 categories. Third, basic architecture generation evaluation that may be trai...

A stable grasp can only be achieved with multi-fingered grippers. The required task for the robots has become more complicated such as handling of objects with various properties e.g. material, size, mass etc. and the physical interaction between the finger and an object has also become complicated e.g. grasping with slippage, finger gait ..... etc. This paper focuses on enhancing the grasping ...

By mid 2002 crew time will become a precious resource on ISS. Especially EVA activities will be under pressure, requiring special training, preparation and post-sortie recovery. The key issue is a collection of human scale dexterous manipulation tasks, like handling MLI and connectors. A significant portion of these tasks is well-predictable and can be considered routine operations. But they ar...

For the semester project, we are aiming to develop an intuitive, haptic interface that will allow for improved control over a surgical manipulator designed for application in removal of osteolysis. Current surgical options for osteolysis removal require manual surgery that often leaves much of the lesion unexplored, and, thus, researchers at the Applied Physics Lab and Johns Hopkins University ...

The goal of this study is to develop a haptic interface for dexterous manipulation. To achieve this, we proposed electrotactile-kinesthetic integration. Our electrotactile display presents natural touch sensations of objects. In addition, this display is so small that it is considered to not affect the moving range of fingers. The haptic interface for dexterous manipulation is realized by mount...

This paper presents an impedance controller for five-finger dexterous robot hand DLR-HIT II, which is derived in Cartesian space. By considering flexibility in finger joints and strong mechanical couplings in differential gear-box, modeling and control of the robot hand are described in this paper. The model-based friction estimation and velocity observer are carried out with an extended Kalman...

In this paper, we describe the realization and control of robotic end-effectors that are designed to achieve high operational versatility with limited constructive complexity. The design of such endeffectors, which can be regarded either as low-complexity robot hands or as highly versatile robot grippers, is based on the intentional exploitation of nonholonomic effects that occur in rolling. Wh...

DEXMART is a European large-scale integrating project (IP) funded in the Seventh Framework Programme. The acronym stands for DEXterous and autonomous dual-arm/hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition. The project is focused on artificial systems reproducing smart sensory-motor human skills, which operate in unstructured real-world ...

A dynamic model Whole-Arm Dexterous Manipulation In The Plane S.L. Yeap J.C. Trinkle Dept. of CS syeap@cs. tamu.edu Dept. of CS trink@cs . t amu.edu Texas A&M University, College Station, TX 77843-31 12 ' of a dexterous manipulation system can be used for predicting the feasibility of a manipulation plan generated under the quasistatic assumption but executed under dynamic conditions. Contact f...