Abstract

This paper designs human interface of a supervisory control system for a robotic hand. Slave controllers are designed for preshaping, pinching and orientation control of grasped objects. We chose Data Glove as master device beacuse of without remake master device. The Data Glove doesn't map hand configuration but minimum information for operation. We propose the model of human hand and the method for orientation control of grasped objects by the Data Glove, experiment using real machine and validate the method.