Call1 Monitoring Handsdvi

Public Summary Month 7/2012

Mon, 30 Jul 2012 12:10:25 GMT

We have successfully uploaded our Final report on the Deliverable section as required.

_The HANDS.DVI team.

Last Deliverable submitted!

Wed, 27 Jun 2012 09:09:36 GMT

The last Deliverable has been delivered.

It deals with the last experimental results on mapping human synergies onto robotic hands with different kinematics. We have tested two robotics hands, an anthropomorphic model such as the DLR-HIT II hand and a three-finger modular hand, using the developed instrumented object to validate our mapping procedure.

We performed two different experiments able to verify the performance on mapping both rigid movement and contact forces. We used a cheap tracking system based on the marker typically used in augmented reality scenario for movement estimation, while an instrumented object was used to compute the total energy exerted by the robotic hand into the grasped object. We measured the total energy to mitigate the difference on contact point number and position that forbid a direct force comparison.

In the following pictures tan experimental setup is shown.

Fig. 1: Experimental setup for motion evaluation

Public Summary Month 6/2012

Sat, 16 Jun 2012 13:52:40 GMT

Experiments are progressing well.

We're woorking on the final deliverable. It will be ready within the next week.

Public Summary Month 5/2012

Sat, 05 May 2012 14:52:04 GMT

The experiment was planned to end on March 2012. Anyway, due to the late in the deliver
of the robotic hands, the deadline for the last deliverable has been postponed to June 2012.
During the last two months we focused mostly on the following aspects.
• Further calibration of the instrumented object.
• Mapping algorithms with the DLR-HIT II hand. In particular we introduced a virtual
ellipsoid to better capture paradigmatic hand movements.

Public Summary Month 2/2012

Sun, 26 Feb 2012 20:52:32 GMT

During the last two months we focused on the following aspects.
• Software integration between the instrumented object and DLR-HIT II hand.
• Mapping algorithms with the DLR-HIT II hand. In particular we implemented in simulation
joint to joint mapping, fingertip mapping and the proposed virtual sphere mapping.
• Experimental setup. The DLR-HIT II hand has been fixed on a KUKA KR3 robotic
arm to facilitate the pre-grasp positioning of the hand.
It is worth noting that the experiment was planned to end on March 2012. Anyway, due to
the late in the robotic hands deliver, the deadline for the last deliverable has been postponed
to June 2012.

Public Summary Month 12/2011

Tue, 27 Dec 2011 16:28:05 GMT

During the last two months we focused on the following aspects.

• Mapping algorithms with the DLR-HIT II hand. In particular we implemented joint to joint mapping, while fingertip mapping and the proposed virtual sphere mapping are ongoing activities.

• Calibration and tests of the sensorized object. In the current version the system can acquire the contact force vector and position on any surface of the object.

Public Summary October 2011

Thu, 27 Oct 2011 15:34:24 GMT

During the last two months we focused on the following aspect.

• The algorithm for mapping human synergies onto robotic hands with dissimilar kinematic structures has been tested through several simulation with a three fingers eight joints fully actuated hand model. In particular, improvements with respect to existing in literature mapping algorithm have been demonstrated.

• The DLR-HIT II hands has been installed at UNISI. Major functionalities of the hand and the user interface have been tested. The implementation of our mapping procedure in this robotic hand has started.

• The hardware of the instrumented object which consists of the instrumented core sensors and the electronics has been completed. Calibration, testing and software development have progressed significantly and are ongoing activities.

The DLR-HIT II hand @ UNISI

Public Summary Month 10/2011

Tue, 18 Oct 2011 15:35:00 GMT

The DLR-HIT II hand is finally arrived in our Lab!!!

Public Summary Month 7/2011

Sat, 30 Jul 2011 09:19:56 GMT

In the last two months the work of the HANDS.DVI partners has been focused on

• designing the algorithm of mapping synergies from the paradigmatic hand, the model of the human hand, to robotic manipulators with general kinematics

• realizing the experimental setups to be used in the next period of the project to validate the project results of HANDS.DVI.

Note that for the experimental setup we planned to use a DLR-HIT hand II. However, the delivery of the DLR hand has been delayed to the beginning of September. To mitigate the effect of this delay we have planned to start using other two hands developed in the laboratories of Siena and Pisa.

Public Summary Month 5/2011

Mon, 30 May 2011 21:33:19 GMT

During the last two months our work has been focused especially on the third task EXP. In particular we completed the design of the instrumented object that will be used to measure forces and torques involved in robot grasp measurement and control. The project

specifications for the object are here summarized:

• possibility to get different shapes (cube, sphere, cylinder)

• forces and torques measurement at selected contact points

• measurement of contact point positions

We decided to develop a single instrumented core object on which external faces can be mounted creating several interaction geometries.

Public Summary Month 3/2011

Thu, 31 Mar 2011 21:56:34 GMT

During these two months we focused on the following aspects:
• A set of Matlab functions has been defined and organized as a preliminary version of a
grasping toolbox. It allows to define models of human and robotic hands, objects and
grasp configurations, in order to evaluate grasp performances. (task SYN).
• A mapping algorithm has been studied and formalized. It is based on a virtual object
that in the preliminary algorithm version is a virtual sphere. The algorithm is formalized
on the task space. (task DVI)
• A model of the instrumented object has been developed with our toolbox. We evaluated
grasping performances of a robotic hand controlled by human synergies mapped with
classical mapping approaches. We planned to test our mapping algorithm with the same
object and task (task EXP).

Public Summary Month 1/2011

Fri, 04 Feb 2011 15:37:30 GMT

The scientific goal of HANDS.DVI (Hands DeVice-Independent language) consists of developing a common framework to program robotic hands
independently from their kinematics, mechanical construction, and sensor equipment complexity. Recent results on the organization of the
human hand in grasping and manipulation, known in the literature as synergies, are the inspiration for this project. This synergistic
organization is the theoretical foundation of the innovative approach to design a unified framework for robotic hands control