Symbolic Level Generalization of In-hand Manipulation Tasks from Human Demonstrations using Tactile Data Information

Abstract

This work intends to contribute to the development of autonomous dexterous robotic hands by presenting an approach to describe the mechanisms underlying the human strategies during the execution of in-hand manipulation tasks. The work proposes a symbolic description of the in-hand manipulation tasks. The in-hand manipulation tasks are demonstrated by a subject wearing an instrumented glove with a tactile sensing array on the palm and fingers region. The description of the manipulation movement consists on a sequence of hand contact states primitives with the object. The set of possible contact state primitives is defined previously to the demonstration.