マスタ・スレーブのための次元圧縮を利用した把持動作補助システム

抄録

In this paper, we have developed a grasp assist system that can handle multiple grasp motions and suppress the effects of disturbances. In the system, the master’s grasp motions are mapped into the latent space using GPLVM, and are converted to the slave’s motions using GMR.In the experiment, it is verified that the proposed dimensionally reduction method is valid for the grasp motions, and, a three-fingered robot hand can be remotely controlled by the proposed grasp assist system.