From robotic hands to human hands: a visualization and simulation engine for grasping research
From robotic hands to human hands: a visualization and simulation engine for grasping research
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DOI：
10.1108/01439910510573309
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发表时间：
2005-01-01
影响因子：
1.8
通讯作者：
Valero-Cuevas, F
中科院分区：
文献类型：
--
作者：
Miller, A;Allen, P;Valero-Cuevas, F
目的 - 机械手距离与人类对手的抓取和操纵能力还有很长的路要走，但计算机模拟可能有助于我们理解这种差距。我们展示了我们公开可用的模拟器，并描述了我们涉及该系统的研究项目，包括开发根据实验测量得出的人手模型。设计/方法/途径 - 与其他模拟系统不同，我们的系统是专门为分析抓握而构建的。它可以通过使用运动学和连杆几何形状的标准描述来导入各种机器人设计。各种组件支持抓取分析、结果可视化、抓取任务的动态模拟和抓取规划。研究结果 - 该模拟器已用于多个抓取研究问题，并且可用于规划实际机器人的抓取。在视觉系统的帮助下，我们已经证明这些抓取可以由机器人执行。研究局限性/影响 - 我们目前正在开发处理可变形表面、肌腱驱动模型和非理想关节的方法，以便更好地模拟人类抓取。实际意义 - 这项工作是我们当前项目的一部分，该项目旨在创建生物力学上真实的人手模型，以更好地了解在机器人手的设计中最重要的模仿特征。这样的模型还将帮助临床医生更好地规划手部重建手术。 原创性/价值 - 我们描述了我们公开可用的抓取模拟器并回顾了用它进行的实验。本文展示了该系统作为掌握研究工具的有用性。
Purpose - Robotic hands are still a long way from matching the grasping and manipulation capability of their human counterparts, but computer simulation may help us understand this disparity. We present our publicly available simulator, and describe our research projects involving the system including the development of a human hand model derived from experimental measurements.Design/methodology/approach - Unlike other simulation systems, our system was built specifically to analyze grasps. It can import a wide variety of robot designs by using standard descriptions of the kinematics and link geometries. Various components support the analysis of grasps, visualization of results, dynamic simulation of grasping tasks, and grasp planning.Findings - The simulator has been used in several grasping research problems and can be used to plan grasps for an actual robot. With the aid of a vision system, we have shown that these grasps can be executed by a robot.Research limitations/implications - We are currently developing methods to handle deformable surfaces, tendon driven models, and non-ideal joints in order to better model human grasping.Practical implications - This work is part of our current project to create a biomechanically realistic human hand model to better understand what features are most important to mimic in the designs of robotic hands. Such a model will also help clinicians better plan reconstructive hand surgeries.Originality/value - We describe our publicly available grasping simulator and review experiments performed with it. The paper demonstrates the usefulness of this system as a tool for grasping research.