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Title: User interface for a tele-operated robotic hand system

Abstract

Disclosed here is a user interface for a robotic hand. The user interface anchors a user's palm in a relatively stationary position and determines various angles of interest necessary for a user's finger to achieve a specific fingertip location. The user interface additionally conducts a calibration procedure to determine the user's applicable physiological dimensions. The user interface uses the applicable physiological dimensions and the specific fingertip location, and treats the user's finger as a two link three degree-of-freedom serial linkage in order to determine the angles of interest. The user interface communicates the angles of interest to a gripping-type end effector which closely mimics the range of motion and proportions of a human hand. The user interface requires minimal contact with the operator and provides distinct advantages in terms of available dexterity, work space flexibility, and adaptability to different users.

Inventors:
Publication Date:
Research Org.:
Idaho National Laboratory (INL), Idaho Falls, ID (United States)
Sponsoring Org.:
USDOE
OSTI Identifier:
1174180
Patent Number(s):
8,989,902
Application Number:
13/868,185
Assignee:
U.S. Department of Energy (Washington, DC)
DOE Contract Number:  
AC07-05ID14517
Resource Type:
Patent
Resource Relation:
Patent File Date: 2013 Apr 23
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING

Citation Formats

Crawford, Anthony L. User interface for a tele-operated robotic hand system. United States: N. p., 2015. Web.
Crawford, Anthony L. User interface for a tele-operated robotic hand system. United States.
Crawford, Anthony L. 2015. "User interface for a tele-operated robotic hand system". United States. https://www.osti.gov/servlets/purl/1174180.
@article{osti_1174180,
title = {User interface for a tele-operated robotic hand system},
author = {Crawford, Anthony L},
abstractNote = {Disclosed here is a user interface for a robotic hand. The user interface anchors a user's palm in a relatively stationary position and determines various angles of interest necessary for a user's finger to achieve a specific fingertip location. The user interface additionally conducts a calibration procedure to determine the user's applicable physiological dimensions. The user interface uses the applicable physiological dimensions and the specific fingertip location, and treats the user's finger as a two link three degree-of-freedom serial linkage in order to determine the angles of interest. The user interface communicates the angles of interest to a gripping-type end effector which closely mimics the range of motion and proportions of a human hand. The user interface requires minimal contact with the operator and provides distinct advantages in terms of available dexterity, work space flexibility, and adaptability to different users.},
doi = {},
url = {https://www.osti.gov/biblio/1174180}, journal = {},
number = ,
volume = ,
place = {United States},
year = {Tue Mar 24 00:00:00 EDT 2015},
month = {Tue Mar 24 00:00:00 EDT 2015}
}

Works referenced in this record:

Multiple joints reference for robot finger control in robot hand teleoperation
conference, December 2012

  • Kobayashi, Futoshi; Kitabayashi, Keiichi; Nakamoto, Hiroyuki
  • 2012 IEEE/SICE International Symposium on System Integration (SII 2012), 2012 IEEE/SICE International Symposium on System Integration (SII)
  • https://doi.org/10.1109/SII.2012.6427360

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Teleoperation of a robot manipulator using a vision-based human-robot interface
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A new method of accurate hand- and arm-tracking for small primates
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Decoding 3-D Reach and Grasp Kinematics From High-Frequency Local Field Potentials in Primate Primary Motor Cortex
journal, July 2010


Method of making an electrically conductive strain gauge material
patent, January 1999