Page 163 - Human Inspired Dexterity in Robotic Manipulation

160 Human Inspired Dexterity in Robotic Manipulation

Operator
Task
selection Hand
Controllers
Grasp
Positioning
Dataglove
Haptic
device
Orienting
Feedback data

Fig. 8.10 Overview of the supervisory control system [4].

(A)

(B)

Fig. 8.11 Manipulation with the supervisory control. (A) Stable grasp + orientation,
(B) stable grasp + translation. Orientation and translation controllers are
superimposed to the stable grasping controller.

dataglove as master devices. The operator mimics one of the predetermined
grasp shapes with the dataglove, and the task selector detects it. The operator
can present a desired relative rotational and translational motion for manip-
ulation during the precision grasp with the Phantom Omni. As shown in
Fig. 8.11, we executed grasping and manipulation of two objects with
the supervisory controller. First, an operator put the dataglove on his hand
and made a precision grasp shape to grasp a spray can with the hand, and
grasp and rotate the tip of the Phantom Omini around the yaw axis to rotate
the spray can. Then, the hand stably rotated it, as shown in Fig. 8.11A. Next,
the operator made a precision grasp shape to grasp a box, and grasped and