We have successfully uploaded our Final report on the Deliverable section as required.

_The HANDS.DVI team.

The last Deliverable has been delivered.

It deals with the last experimental results on mapping human synergies onto robotic hands with different kinematics. We have tested two robotics hands, an anthropomorphic model such as the DLR-HIT II hand and a three-finger modular hand, using the developed instrumented object to validate our mapping procedure.

We performed two different experiments able to verify the performance on mapping both rigid movement and contact forces. We used a cheap tracking system based on the marker typically used in augmented reality scenario for movement estimation, while an instrumented object was used to compute the total energy exerted by the robotic hand into the grasped object. We measured the total energy to mitigate the difference on contact point number and position that forbid a direct force comparison.

In the following pictures tan experimental setup is shown.

Fig. 1: Experimental setup for motion evaluation

Experiments are progressing well.

We're woorking on the final deliverable. It will be ready within the next week.

The experiment was planned to end on March 2012. Anyway, due to the late in the deliver
of the robotic hands, the deadline for the last deliverable has been postponed to June 2012.
During the last two months we focused mostly on the following aspects.
• Further calibration of the instrumented object.
• Mapping algorithms with the DLR-HIT II hand. In particular we introduced a virtual
ellipsoid to better capture paradigmatic hand movements.

During the last two months we focused on the following aspects.
• Software integration between the instrumented object and DLR-HIT II hand.
• Mapping algorithms with the DLR-HIT II hand. In particular we implemented in simulation
joint to joint mapping, fingertip mapping and the proposed virtual sphere mapping.
• Experimental setup. The DLR-HIT II hand has been fixed on a KUKA KR3 robotic
arm to facilitate the pre-grasp positioning of the hand.
It is worth noting that the experiment was planned to end on March 2012. Anyway, due to
the late in the robotic hands deliver, the deadline for the last deliverable has been postponed
to June 2012.