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Recognition of human grasps by time-clustering and fuzzy modeling
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)
Örebro University, School of Science and Technology. (AASS)
2009 (English)In: Robotics and Autonomous Systems, ISSN 0921-8890, E-ISSN 1872-793X, Vol. 57, no 5, 484-495 p.Article in journal (Refereed) Published
Abstract [en]

In this paper we address the problem of recognition of human grasps for five-fingeredrobotic hands and industrial robots in the context of programming-by-demonstration. The robot isinstructed by a human operator wearing a data glove capturing the hand poses. For a number ofhuman grasps, the corresponding fingertip trajectories are modeled in time and space by fuzzyclustering and Takagi-Sugeno (TS) modeling. This so-called time-clustering leads to grasp modelsusing time as input parameter and fingertip positions as outputs. For a sequence of grasps thecontrol system of the robot hand identifies the grasp segments, classifies the grasps andgenerates the sequence of grasps shown before. For this purpose, each grasp is correlated with atraining sequence. By means of a hybrid fuzzy model the demonstrated grasp sequence can bereconstructed.

Place, publisher, year, edition, pages
Amsterdam: Elsevier, 2009. Vol. 57, no 5, 484-495 p.
Keyword [en]
grasp recognition, programming-by-demonstration, fuzzy clustering, fuzzy modeling
National Category
Control Engineering Computer Science
Research subject
Computer and Systems Science
Identifiers
URN: urn:nbn:se:oru:diva-8421DOI: 10.1016/j.robot.2008.10.012ISI: 000266122800002Scopus ID: 2-s2.0-63149177143OAI: oai:DiVA.org:oru-8421DiVA: diva2:274812
Available from: 2009-11-02 Created: 2009-11-02 Last updated: 2017-12-12Bibliographically approved

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Palm, RainerIliev, BoykoKadmiry, Bourhane

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CiteExportLink to record
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  • apa
  • ieee
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  • Other style
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  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
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