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GRASP IDENTIFICATION OF HUMAN HANDS AND GRASP PLANNING OF DEXTEROUS HANDS
Author(s): 
Pages: 530-534
Year: Issue:  6
Journal: ROBOT

Keyword:  灵巧手人手抓持运动学;
Abstract: 本文研究灵巧手采用指尖抓持方式时的抓持规划方法.在相同的操作环境和操作对象下,由人手决定抓持接触点的位置,利用人手运动测量装置测量人手抓持位置,通过一定的映射关系将其转换为灵巧手的抓持位置及其掌系的位姿,再根据灵巧手自身的结构通过运动学反解确定其抓持位形.
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