. Ficuciello, F., Federico, A., Lippiello, V., & Siciliano, B. Lenarčič, J. & Merlet, J., editors. Synergies Evaluation of the SCHUNK S5FH for Grasping Control, pages 225-233. Springer International Publishing, Cham, 2017.
Synergies Evaluation of the SCHUNK S5FH for Grasping Control [link]Paper  doi  abstract   bibtex   
In this work, a study on postural synergies has been conducted on an under-actuated anthropomorphic handAnthropomorphic hands , the SCHUNK Five-Fingered Hand (S5FH). Human hand grasps are mapped on the robotic hand using fingertips measurements, obtained with an RGBD camera sensor, and inverse kinematics. Since the S5FH is under-actuated, an approximate solution can be obtained using the differential kinematics mapping between the motor space and the Cartesian space and a closed-loop inverse kinematics (CLIK), based on a high-rectangular hand Jacobian that takes into account the mechanical synergies of the hand. The so-computed motor synergies have been tested for hand control during grasping. The motor current measurements have been used to limit the graspingGrasping forces trough a motor positionPostural synergies control in the synergies subspace.
@Inbook{Ficuciello2017_ARK,
author="Ficuciello, Fanny
and Federico, Alba
and Lippiello, Vincenzo
and Siciliano, Bruno",
editor="Lenar{\v{c}}i{\v{c}}, Jadran
and Merlet, Jean-Pierre",
title="Synergies Evaluation of the {SCHUNK} {S5FH} for Grasping Control",
bookTitle="Advances in Robot Kinematics 2016",
year="2017",
publisher="Springer International Publishing",
address="Cham",
pages="225-233",
abstract="In this work, a study on postural synergies has been conducted on an under-actuated anthropomorphic handAnthropomorphic hands        , the SCHUNK Five-Fingered Hand (S5FH). Human hand grasps are mapped on the robotic hand using fingertips measurements, obtained with an RGBD camera sensor, and inverse kinematics. Since the S5FH is under-actuated, an approximate solution can be obtained using the differential kinematics mapping between the motor space and the Cartesian space and a closed-loop inverse kinematics (CLIK), based on a high-rectangular hand Jacobian that takes into account the mechanical synergies of the hand. The so-computed motor synergies have been tested for hand control during grasping. The motor current measurements have been used to limit the graspingGrasping         forces trough a motor positionPostural synergies         control in the synergies subspace.",
isbn="978-3-319-56802-7",
doi="10.1007/978-3-319-56802-7_24",
url="https://doi.org/10.1007/978-3-319-56802-7_24"
}


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