GRASP IDENTIFICATION OF HUMAN HANDS AND GRASP PLANNING OF DEXTEROUS HANDS

A method for robotic dexterous fingertip grasp planning is presented. The master-slave manipulation method is adopted. The grasp points are determined by human hand wearing the measuring apparatus. And then the data are mapped into the grasp point positions and palm pose of the dexterous hand. The grasp configuration is then solved with inverse kinematics of the dexterous hand.