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.