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