首页|New Findings on Robotics and Automation from Shanghai Jiao Tong University Summa rized (Semi-autonomous Grasping Control of Prosthetic Hand and Wrist Based On Mo tion Prior Field)
New Findings on Robotics and Automation from Shanghai Jiao Tong University Summa rized (Semi-autonomous Grasping Control of Prosthetic Hand and Wrist Based On Mo tion Prior Field)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Fresh data on Robotics - Robotics and Automation are presented in a new report. According to news reporting from Shang hai, People's Republic of China, by NewsRx journalists, research stated, "Graspi ng multiple affordance parts and from arbitrary directions for complex shaped ob jects still remains a challenging problem for prosthetic hand with wrist. We pro pose a semi-autonomous control method that uses only an integrated in-hand camer a to predict the final grasping part on an object as the hand approaches it and obtain the appropriate wrist joint angles and preshape type." Financial support for this research came from National Natural Science Foundatio n of China (NSFC). The news correspondents obtained a quote from the research from Shanghai Jiao To ng University, "We collect approach-grasp motion sequences from human experts to construct a motion prior field (MPF) and derive the prediction model MPFNet by behavior cloning. With noise augmentation and a hybrid regressioncategorization policy training, our prediction model gets less than 2 cm predicting deviation under a small number (15) of demonstrations for each object. We apply our contro l method to a prosthetic hand with a 2 degrees -of-freedom (DoF) wrist, enabling it to grasp multiple parts of complex shaped objects and remain robust under th e position and orientation variation. Compared to state-of-the-art myoelectric c ontrol and semi-autonomous control methods, respectively, our method improves 65 .4%/26.3% in grasp success rate, 40.4%/2 6.3% in control time, and 35.6%/27.8% i n error distance."
ShanghaiPeople's Republic of ChinaAs iaRobotics and AutomationRoboticsShanghai Jiao Tong University
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