Abstract: Describes the implementation of grasp planning for robotic dexterous hands. Human grasp strategy is learned through masterslave manipulation, A method of fingertip mapping is developed based on virtual fingers in cartesian space. Using the dataglove as human machine interface, joint angles are recorded and digit trajectories are computed using forward kinematics. The kinematics of movement of all digits is analyzed during grasp. The fingertip trajectories during grasp are recorded in Cartesian space. A virtual environment is developed to visualize the motion of the human hand and the robot hands. Visualization of the 3D workspace is accomplished. The mapping result is verified in the virtual environment, suggests that the mapping algorithm is correct.

Key words: master/slave manipulation, dexterous hands, motion Mapping