The role of learning and kinematic features in dexterous manipulation: A comparative study with two robotic hands

Dexterous movements performed by the human hand are by far more sophisticated than those achieved by current humanoid robotic hands and systems used to control them. This work aims at providing a contribution in order to overcome this gap by proposing a bio-inspired control architecture that captures two key elements underlying human dexterity. The first is the progressive development of skilful control, often starting from - or involving - cyclic movements, based on trial-and-error learning processes and central pattern generators. The second element is the exploitation of a particular kinematic features of the human hand, i.e. the thumb opposition. The architecture is tested with two simulated robotic hands having different kinematic features and engaged in rotating spheres, cylinders, and cubes of different sizes. The results support the feasibility of the proposed approach and show the potential of the model to allow a better understanding of the control mechanisms and kinematic principles underlying human dexterity and make them transferable to anthropomorphic robotic hands. © 2013 Ju et al.

Tipo Pubblicazione: 
Articolo
Author or Creator: 
Ciancio, Anna Lisa
Zollo, Loredana
Baldassarre, Gianluca
Caligiore, Daniele
Guglielmelli, Eugenio
Publisher: 
Institute for Production Engineering. Intelligent Manufacturing Systems. Vienna University of Technology., Wien, Austria
Source: 
International journal of advanced robotic systems (Print) 10 (2013). doi:10.5772/56479
info:cnr-pdr/source/autori:Ciancio, Anna Lisa; Zollo, Loredana; Baldassarre, Gianluca; Caligiore, Daniele; Guglielmelli, Eugenio/titolo:The role of learning and kinematic features in dexterous manipulation: A comparative study with two robotic hands/doi:1
Date: 
2013
Resource Identifier: 
http://www.cnr.it/prodotto/i/310439
https://dx.doi.org/10.5772/56479
info:doi:10.5772/56479
http://www.scopus.com/record/display.url?eid=2-s2.0-84885572903&origin=inward
Language: 
Eng
ISTC Author: 
Ritratto di Daniele Caligiore
Real name: