Learning Techniques in a Dataglove Based Telemanipulation System for the DLR Hand

Max Fischer, P. Patrick van der Smagt, Gerd Hirzinger

Abstract: We present a setup to control a four-finger anthropomorphic robot hand using a dataglove. To be able to accurately use the dataglove we implemented a nonlinear learning calibration using a novel neural network technique. Experiments show that a resulting positioning error not exceeding 1.8 mm, but typically 0.5 mm, per finger can be obtained; this accuracy is sufficiently precise for grasping tasks. Based on the dataglove calibration we present a solution for the mapping of human and artificial hand workspaces that enables an operator to intuitively and easily telemanipulate objects with the artificial hand.