Dexterous telemanipulation with a multi-touch interface

Yue Peng Toh, Shan Huang, Joy Lin, Maria Bajzek, Garth Zeglin, Nancy S. Pollard
2012 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012)  
Robust manipulation with a dexterous robot hand is a grand challenge of robotics. Impressive levels of dexterity can be achieved through teleoperation. However, teleoperation devices such as a glove or force reflecting master-slave system can be expensive and can tie the robot down to a restricted workspace. We observe that inexpensive and widely available multi-touch interfaces can achieve excellent performance for a large range of telemanipulation tasks, making dexterous robot
more » ... broadly accessible. Our key insight is that dexterous grasping and manipulation interactions frequently focus on precise control of the fingertips in a plane. Following this observation, our novel multi-touch interface focuses on reliable replication of planar fingertip trajectories, making previously difficult actions such as grasping, dragging, reorienting, rolling, and smoothing as intuitive as miming the action on a multitouch surface. We demonstrate and evaluate these and other interactions using an iPad interface to a Shadow Hand mounted on a Motoman SDA10 robot.
doi:10.1109/humanoids.2012.6651531 dblp:conf/humanoids/TohHLBZP12 fatcat:4dh3h54nl5agvbmlezczohnla4