Mh. Yun et al., AN INSTRUMENTED GLOVE FOR GRASP SPECIFICATION IN VIRTUAL-REALITY-BASED POINT-AND-DIRECT TELEROBOTICS, IEEE transactions on systems, man and cybernetics. Part B. Cybernetics, 27(5), 1997, pp. 835-846
Citations number
29
Categorie Soggetti
Controlo Theory & Cybernetics","Computer Science Cybernetics","Robotics & Automatic Control
Hand posture and force, which define aspects of the way an object is g
rasped, are features of robotic manipulation, A means for specifying t
hese grasping ''flavors'' has been developed that uses an instrumented
glove equipped with joint and force sensors, The new grasp specificat
ion system will be used at the Pennsylvania State University (Penn Sta
te) in a Virtual Reality based Point-and-Direct (VR-PAD) robotics impl
ementation, Here, an operator gives directives to a robot in the same
natural way that human may direct another. Phrases such as ''put that
there'' cause the robot to define a grasping strategy and motion strat
egy to complete the task on its own, In the VR-PAD concept, pointing i
s done using virtual tools such that an operator can appear to graphic
ally grasp real items in live video, Rather than requiring full duplic
ation of forces and kinesthetic movement throughout a task as is requi
red in manual telemanipulation, hand posture and force are now specifi
ed only once, The grasp parameters then become object flavors, The rob
ot maintains the specified force and hand posture flavors for an objec
t throughout the task in handling the real workpiece or item of intere
st, In the Computer Integrated Manufacturing (CIM) Laboratory at Penn
State, hand posture and force data were collected for manipulating bri
cks and other items that require varying amounts of force at multiple
pressure points, The feasibility of measuring desired grasp characteri
stics was demonstrated for a modified Cyberglove impregnated with Forc
e-Sensitive Resistor (FSR) (pressure sensors in the fingertips, A join
t/force model relating the parameters of finger articulation and press
ure to various lifting tasks was validated for the instrumented ''wire
d'' glove, Operators using such a modified glove may ultimately be abl
e to configure robot grasping tasks in environments involving hazardou
s waste remediation, flexible manufacturing, space operations and othe
r flexible robotics applications, In each case, the VR-PAD approach wi
ll finesse the computational and delay problems of real-time multiple-
degree-of-freedom force feedback telemanipulation.