人手到灵巧手指尖运动映射的实现

在人手到灵巧手的运动映射方面，人手和灵巧手在运动学上的异构现象造成了二者之 间运动映射的困难。本文研究灵巧手的抓持规划，通过主从操作来实现。提出了一种基 于虚拟手指的直角空间指尖运动映射方法实现人手到灵巧手的运动映射，以数据手套为人机 接口，测量手指的关节角度，建立手的运动学模型，根据运动学模型计算出指尖运动轨迹， 完成指尖在抓取过程中的运动学分析，记录指尖在直角坐标空间的运动轨迹，实现了人手和 灵巧手的三维运动仿真，完成了三维工作空间的可视化。在虚拟环境下，运动仿真验证了映 射算法，证明了其有效性。

Mapping Human Hand Motion to Dexterous Robotic Hands

Describes the implementation of grasp planning for robotic dexterous hands. Human grasp strategy is learned through master-slave manipulation, A method of fingertip mapping is developed based on virtual fingers in cartesian space. Using the dataglove as human machine interface, joint angles are recorded and digit trajectories are computed using forward kinematics. The kinematics of movement of all digits is analyzed during grasp. The fingertip trajectories during grasp are recorded in Cartesian space. A virtual environment is developed to visualize the motion of the human hand and the robot hands. Visualization of the 3D workspace is accomplished. The mapping result is verified in the virtual environment, suggests that the mapping algorithm is correct.