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Title

Mapping of Human Hand Actions Using Motion Capture for Dexterous Robotic Telemanipulation

Organization

Department: Mechanical Engineering

University: Idaho State University College: Science & Engineering Department: Mechanical Engineering 12

Document Attachments

Resource	Length	Width	Thickness
Paper	0	0	0

Specimen Elements

City

Pocatello

Coverage

Unknown to Unknown

Creator

Mohammed Shaifur Rahman Chowdhury

Publisher

Idaho State University

Type

Thesis

Is Complete

No

Date Published

7/6/2018

Archive

digital

City: Pocatello

Degree

Master

Document Attachments

Abstracts

The objective of this thesis is the kinematic mapping of human hand motion for dexterous telemanipulation. Different tasks and grasps are considered for human hand motion. The human hand motions are captured by Vicon Motion Capture System which allows an accurate detection of the human hand motion in Cartesian space. In this study, for grasping motion, only the thumb and index finger of the right hand are used. The hand motions data of grasping are then mapped from the human hand workspace to the two-fingered planer robot hand workspace. Here Barret hand BH282 is used for the demonstration of the mapped motion though it has three fingers. The joint angle positions of Barret hand fingers are calculated using forward and inverse kinematics of the fingers via nonlinear optimization