지원사업
학술연구/단체지원/교육 등 연구자 활동을 지속하도록 DBpia가 지원하고 있어요.
커뮤니티
연구자들이 자신의 연구와 전문성을 널리 알리고, 새로운 협력의 기회를 만들 수 있는 네트워킹 공간이에요.
논문 기본 정보
- 자료유형
- 학술대회자료
- 저자정보
- 발행연도
- 2012.10
- 수록면
- 1,710 - 1,715 (6page)
이용수
초록· 키워드
오류제보하기
Joint motion profiles from nine human test subjects were recorded while catching and lifting a sphere. Significant differences between the two tasks presented themselves consistently across all test subjects. In general, larger abductions and hyperextensions of the metacarpophalangeal joints were observed. The joint motions of the test subjects were simulated in Simulink with a skeletal structure of the human hand. From the recorded motions, cubic polynomials were fit to the joint angle data to form two distinct grasp primitives. Simulations of these primitives were performed in Simulink with a skeletal structure of the Shadow Hand. These primitives were subsequently used on the physical system by a human operator who was able to pick up and catch a sphere with the Shadow Hand. An electromyogram signal measured from the forearm of the test subject was used as the input to the Shadow Hand controller. The sphere was successfully caught on five out of seven attempts with no prior practice with the system. The sphere was successfully lifted in seven of twelve attempts.
목차
Abstract
1. INTRODUCTION
2. CYBERGLOVE II
3. THE DEXTEROUS C6M SHADOW HAND
4. EXPERIMENTAL METHODS: HUMAN SUBJECTS
4. RESULTS: HUMAN SUBJECTS
4. EXPERIMENTAL METHODS: SHADOW HAND
5. RESULTS: SHADOW HAND
6. CONCLUSION
6. REFERENCES
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