Dexterous Robot Hand Control with Data Glove by Human Imitation

Kiyoshi HOSHINO

doi:10.1093/ietisy/e89-d.6.1820

Dexterous Robot Hand Control with Data Glove by Human Imitation

Kiyoshi HOSHINO

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The purpose of the study is to obtain the automatic and optimal matching between a motion-measurement device such as a data glove and an output device such as a dexterous robot hand, where there are many differences in the numbers of degree of freedom, sensor and actuator positions, and data format, by means of motion imitation by the humans. Through the algorithm proposed here, a system engineer or user need no labor of determining the values of gains and parameters to be used. In the system, a subject with data glove imitated the same motion with a dexterous robot hand which was moving according to a certain mathematical function. Autoregressive models were adapted to the matching, where each joint angle in the robot and data glove data of the human were used as object and explanatory variables respectively. The partial regression coefficients were estimated by means of singular value decomposition with a system-noise reduction algorithm utilizing statistical properties. The experimental results showed that the robot hand was controlled with high accuracy with small delay, suggesting that the method proposed in this study is proper and easy way and is adaptive to many other systems between a pair of motion-measurement device and output device.

Publication: IEICE TRANSACTIONS on Information Vol.E89-D No.6 pp.1820-1825

Publication Date: 2006/06/01

Publicized

Online ISSN: 1745-1361

DOI: 10.1093/ietisy/e89-d.6.1820

Type of Manuscript: Special Section PAPER (Special Section on Human Communication II)

Category: Robot and Interface

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Kiyoshi HOSHINO, "Dexterous Robot Hand Control with Data Glove by Human Imitation" in IEICE TRANSACTIONS on Information, vol. E89-D, no. 6, pp. 1820-1825, June 2006, doi: 10.1093/ietisy/e89-d.6.1820.
Abstract: The purpose of the study is to obtain the automatic and optimal matching between a motion-measurement device such as a data glove and an output device such as a dexterous robot hand, where there are many differences in the numbers of degree of freedom, sensor and actuator positions, and data format, by means of motion imitation by the humans. Through the algorithm proposed here, a system engineer or user need no labor of determining the values of gains and parameters to be used. In the system, a subject with data glove imitated the same motion with a dexterous robot hand which was moving according to a certain mathematical function. Autoregressive models were adapted to the matching, where each joint angle in the robot and data glove data of the human were used as object and explanatory variables respectively. The partial regression coefficients were estimated by means of singular value decomposition with a system-noise reduction algorithm utilizing statistical properties. The experimental results showed that the robot hand was controlled with high accuracy with small delay, suggesting that the method proposed in this study is proper and easy way and is adaptive to many other systems between a pair of motion-measurement device and output device.
URL: https://global.ieice.org/en_transactions/information/10.1093/ietisy/e89-d.6.1820/_p

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@ARTICLE{e89-d_6_1820,
author={Kiyoshi HOSHINO, },
journal={IEICE TRANSACTIONS on Information},
title={Dexterous Robot Hand Control with Data Glove by Human Imitation},
year={2006},
volume={E89-D},
number={6},
pages={1820-1825},
abstract={The purpose of the study is to obtain the automatic and optimal matching between a motion-measurement device such as a data glove and an output device such as a dexterous robot hand, where there are many differences in the numbers of degree of freedom, sensor and actuator positions, and data format, by means of motion imitation by the humans. Through the algorithm proposed here, a system engineer or user need no labor of determining the values of gains and parameters to be used. In the system, a subject with data glove imitated the same motion with a dexterous robot hand which was moving according to a certain mathematical function. Autoregressive models were adapted to the matching, where each joint angle in the robot and data glove data of the human were used as object and explanatory variables respectively. The partial regression coefficients were estimated by means of singular value decomposition with a system-noise reduction algorithm utilizing statistical properties. The experimental results showed that the robot hand was controlled with high accuracy with small delay, suggesting that the method proposed in this study is proper and easy way and is adaptive to many other systems between a pair of motion-measurement device and output device.},
keywords={},
doi={10.1093/ietisy/e89-d.6.1820},
ISSN={1745-1361},
month={June},}

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TY - JOUR
TI - Dexterous Robot Hand Control with Data Glove by Human Imitation
T2 - IEICE TRANSACTIONS on Information
SP - 1820
EP - 1825
AU - Kiyoshi HOSHINO
PY - 2006
DO - 10.1093/ietisy/e89-d.6.1820
JO - IEICE TRANSACTIONS on Information
SN - 1745-1361
VL - E89-D
IS - 6
JA - IEICE TRANSACTIONS on Information
Y1 - June 2006
AB - The purpose of the study is to obtain the automatic and optimal matching between a motion-measurement device such as a data glove and an output device such as a dexterous robot hand, where there are many differences in the numbers of degree of freedom, sensor and actuator positions, and data format, by means of motion imitation by the humans. Through the algorithm proposed here, a system engineer or user need no labor of determining the values of gains and parameters to be used. In the system, a subject with data glove imitated the same motion with a dexterous robot hand which was moving according to a certain mathematical function. Autoregressive models were adapted to the matching, where each joint angle in the robot and data glove data of the human were used as object and explanatory variables respectively. The partial regression coefficients were estimated by means of singular value decomposition with a system-noise reduction algorithm utilizing statistical properties. The experimental results showed that the robot hand was controlled with high accuracy with small delay, suggesting that the method proposed in this study is proper and easy way and is adaptive to many other systems between a pair of motion-measurement device and output device.
ER -