Segmentation method of human manipulation task based on measurement of force imposed by a human hand on a grasped object
Segmentation method of human manipulation task based on measurement of force imposed by a human hand on a grasped object
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DOI：
10.1109/iros.2009.5354069
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发表时间：
2009-10
期刊：
影响因子：
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通讯作者：
Kazuya Matsuo;K. Murakami;T. Hasegawa;K. Tahara;R. Kurazume
中科院分区：
文献类型：
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作者：
Kazuya Matsuo;K. Murakami;T. Hasegawa;K. Tahara;R. Kurazume
提出了一种基于人手对抓取物体的接触力测量的人操作任务分割方法。我们定义了一个指数措施分割成原语的人类操作任务。这些指数是根据在操作任务期间在所有接触点处测量的接触力的集合计算的。然后，我们应用EM算法的索引集，以分割成原语的操作任务。这些基元被映射到机器人手上，以在抓取的物体上施加适当的接触力。在实验中，在日常人类生活中执行的操作任务已被成功分割。
This paper proposes a segmentation method of human manipulation task based on measurement of contact force imposed by a human hand on a grasped object. We define an index measure for segmenting a human manipulation task into primitives. The indices are calculated from the set of the contact forces measured at all the contact points during a manipulation task. Then, we apply the EM algorithm to the set of the indices in order to segment the manipulation task into primitives. These primitives are mapped onto the robotic hand to impose appropriate contact forces on a grasped object. In the experiments, manipulation tasks performed in daily human life have been successfully segmented.