In this paper a comparative analysis between the human and three robotic hands is conducted. A series of metrics are introduced to quantify anthropomorphism and assess robot's ability to mimic the human hand. In o...
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ISBN:
(纸本)9781467356404
In this paper a comparative analysis between the human and three robotic hands is conducted. A series of metrics are introduced to quantify anthropomorphism and assess robot's ability to mimic the human hand. In order to quantify anthropomorphism we choose to compare human and robot hands in two different levels: comparing finger phalanges workspaces and comparing workspaces of the fingers base frames. The final score of anthropomorphism uses a set of weighting factors that can be adjusted according to the specifications of each study, providing always a normalized score between 0 (non-anthropomorphic) and 1 (human-identical). The proposed methodology can be used in order to grade the human-likeness of existing and new robotic hands, as well as to provide specifications for the design of the next generation of anthropomorphic hands. Those hands can be used for human robot interaction applications, humanoids or even prostheses.
In this paper we propose a generic methodology for human to robot motion mapping for the case of a robotic arm hand system, allowing anthropomorphism. For doing so we discriminate between Functional Anthropomorphism a...
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In this paper we propose a generic methodology for human to robot motion mapping for the case of a robotic arm hand system, allowing anthropomorphism. For doing so we discriminate between Functional Anthropomorphism and Perceptional Anthropomorphism, focusing on the first to achieve anthropomorphic solutions of the inverse kinematics for a redundant robot arm. Regarding hand motion mapping, a “wrist” (end-effector) offset to compensate for differences between human and robot hand dimensions is applied and the fingertips mapping methodology is used. Two different mapping scenarios are also examined: mapping for teleoperation and mapping for autonomous operation. The proposed methodology can be applied to a variety of human robot interaction applications, that require a special focus on anthropomorphism.
The Arizona State University, developed a curricula for teaching semiphysical modeling to its chemical engineering students using a brine-water mixing tank experiment. The brine-water tank was used in the ECE 394 Syst...
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The Arizona State University, developed a curricula for teaching semiphysical modeling to its chemical engineering students using a brine-water mixing tank experiment. The brine-water tank was used in the ECE 394 systems as an ongoing project to help students reconcile the abstraction of mathematical modeling with the realities of a practical system. The main objective of the experiment was to develop useful mathematical models of the tank behavior displaying good predictive ability, using principles and semiphysical modeling techniques. The results show that this experiment can serve as an important role in either an introductory process dynamics and control course or a senior-level unit operations laboratory.
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