Multimodal control interface for an anthropomorphic gripper

The paper presents an intuitive interface for controlling a three fingered anthropomorphic robotic hand in both virtual and real environments. The study presented in this paper will be focus on developing a multimodal interface that will be used for interacting with the Barrett hand. The main problem in using the WIMP metaphor for interacting with the Barrett hand is the increased number of degrees of freedom which must be manipulated with the mouse and the keyboard. In this case the gripper has three fingers with one degrees of freedom for each finger and another one for spreading two fingers. So the interface must deal with a total number of four degrees of freedom which in certain conditions will need to be manipulated simultaneously. The approach is using a multimodal interface based on voice commands, tele-manipulation and smart mobile devices remote controlling.