The Analysis Of Pre-shape And Posture Mapping Method Applying To The Metamorphic Multi-fingered Hand

The metamorphic multi-fingered hand is kind of new dexterous robotic hand,which takes a spherical five-bar mechanism as its palm structure.It imported a reconfigurable mechanism into the metamorphic palm structure,which extended grasping working space and improved grasping flexibility through adding extra freedom of the palm.The main research contents of this paper is to establish a set of grasping posture taxonomy system based on the degree of involvement of metamorphic palm.Spatial virtual sphere is taken as the carrier of grasping posture information,which realized the mapping process from human grasping posture to metamorphic multi-fingered hand.The specific contents are as follows:(1)Taken the Meta-hand and the metamorphic TJU-KCL hand as the subject investigated,this paper discussed the pre-grasping process of the metamorphic multifingered hand through detailed classification of the grasping process.In the analysis of the pre-grasping,this paper firstly established a new grasping taxonomy referring to contacts of grasping posture and involvement of the palm,which is more concise comparing with former grasping taxonomy.(2)This paper proposed a mapping method of grasping postures which take a virtual sphere as the carrier to transform related information of the human hand posture.The proposed mapping method finished the grasping posture analysis of the Meta-hand and the metamorphic TJU-KCL hand,which build up the whole mapping process from human grasping posture to the grasping posture of metamorphic hand.Besides that,mapping results are evaluated by using parameterized indexes.(3)Based on the mapping method proposed in this paper,this paper also actualized the tele-operate of the metamorphic TJU-KCL hand under laboratory conditions and evaluate the grasping postures mapping results in the aspect of imitation of human nature.Besides all that,this paper preliminary discussed the possibility of applying machine learning method into grasping training of the metamorphic TJU-KCL hand.It also preliminary established the grasping training model of the human hand training sets,which extends the application scenarios of the metamorphic multi-fingered hand.The parameters of the training set based on the grasping training set and regression analysis method are discussed.This paper take the spatial virtual sphere as the core of the pose mapping method to analyze the pre-grasping process of the metamorphic multi-fingered hand.It also build up the mathematical model of the posture mapping process and effectively evaluated the mapping results by using experimental model.