Issues in human/computer control of dexterous remote hands

Much research on dexterous robot hands has been aimed at the design and control problem associated with their autonomous operation, while relatively little research has addressed the problem of direct human control. While many of the issues in mixed computer/human control of dexterous hands parallel those found in supervisory control of traditional remote manipulators, the unique geometry and capabilities of dexterous hands pose many new problems. Among these are the control of redundant degrees of freedom, grasp stabilization and specification of nonanthromorphic behavior. An overview is presented of progress made at the MTI AI Laboratory in control of the Salisbury three-finger hand, including experiments in grasp planning and manipulation by controlled slip. The author also suggests how it might be possible to introduce human control into the process at a variety of functional levels