REMODEL. WP3. User And System Interface. T3_3. Teaching By Demonstration Of Skills For New Assembly References And Tasks. Human to robot hand motion mapping method. v0;

In particular, we exploit the a priori, in-hand information related to the areas of the workspace in which thumb and finger fingertips can get in contact. This allows to define, for each finger, a zone of transition from joint to Cartesian mapping.

As a consequence, both hand shape during volar grasps and correctness of the fingertip positions for precision grasps are preserved, despite the master-slave kinematic dissimilarities. The data are related to the publication: R. Meattini, D. Chiaravalli, G. Palli and C. Melchiorri, "Exploiting In-Hand Knowledge in Hybrid Joint-Cartesian Mapping for Anthropomorphic Robotic Hands," in IEEE Robotics and Automation Letters, vol. 6, no. 3, pp. 5517-5524, July 2021, doi: 10.1109/LRA.2021.3078658.