MOTION MAPPING OF HUMAN HAND TO DEXTEROUS ROBOTIC HANDS

This paper describes the implementation of grasp planning for robotic dexterous hands.Human grasp strategy is learned through master slave manipulation.The human hand motion is mapped to the robot hands through dataglove.A method of joint space mapping is developed based on virtual joints and virtual fingers.A virtual environment is developed to visualize the motion of the human hand and the robot hands.The mapping result is verified intuitively in the virtual environment.