期刊论文

Yang, CG

英文

IEEE ROBOTICS AND AUTOMATION LETTERS

2377-3766

2023

8

9

5384-5391

10.1109/LRA.2023.3295296

Thisworkwas supported in part by the H2020 Marie Sklodowska-Curie Actions Individual Fellowship under Grant 101030691 and in part by the National Natural Science Foundation of China under Grant 62003200.

本校为其他机构

The soft fingers and strategic grasping skills enable the human hands to grasp objects in a stable manner. This letter is to model human grasping skills and transfer the learned skills to robots to improve grasping quality and success rate. First, we designed a wearable tool-like parallel hand exoskeleton equipped with optical tactile sensors to acquire multimodal information, including hand positions and postures, the relative distance of the exoskeleton claws, and tactile images. Using the demonstration data, we summarized three characteristi...