Abstract
This paper proposes a solution for interconnecting the human hand with a virtual hand, from which the data is transmitted to a real anthropomorphic gripper, which performs accurately and safely gripping operations of various objects in shapes and sizes. We present four solutions for capturing the configurations of the human hand, namely the use of: a data glove made using bending sensors, a webcam, the Kinect sensor and the Motion Leap sensor. For each solution, some specific essential aspects are briefly indicated. Then a comparative study of the four solutions is presented, based on a test to identify eight different configurations of the human hand, to determine the best solution, which turned out to be the use of the Motion Leap sensor.
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Staretu, I., Moldovan, C. (2023). Comparative Analysis of Four Solutions for Command and Control Applied to Anthropomorphic Grippers for Robots. In: Doroftei, I., Nitulescu, M., Pisla, D., Lovasz, EC. (eds) Proceedings of SYROM 2022 & ROBOTICS 2022. IISSMM 2022. Mechanisms and Machine Science, vol 127. Springer, Cham. https://doi.org/10.1007/978-3-031-25655-4_17
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DOI: https://doi.org/10.1007/978-3-031-25655-4_17
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