On Imitating Human Bimanual Dexterity through Dual-Arm Robotic System - Rehabilitation Institute of Chicago

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Mon July 11

Speaker: Pyung H. Chang, PhD, Professor and Head of DGIST, Daegu, Korea

Title: On Imitating Human Bimanual Dexterity through Dual-Arm Robotic System

Abstract: Guiard's monumental paper has characterized bimanual dexterity of human arm in terms of three hypotheses based on a behavioral study:

1. Left arm presents the reference, with respect to which right arm makes relative motion

2. Left arm performs a coarse motion, whereas right arm execute fine motion.

3. Left arm motion precedes right arm motion.

In this talk, I am going to present our recent implementation of the three hypotheses in a dual-arm robotic system, thereby attempting to achieve human bimanual dexterity. More specifically, we have incorporated the relative Jacobian, which enables an automatic realization of the first and the third hypotheses, together. On the other hand the second hypothesis has been achieved through the use of kinematic redundancy in the dual-arm along with a performance index, called compatibility measure. The resulting motion of the robotic system appears quite dexterous, thereby confirming that our approach makes sense.  I am particularly interested in suggestions of and discussion with the audience of the implication and potential applications of our implementation. In particular I am interested in its application to a prosthetic arm and in the relevance of the compatibility index as a measure to quantify the dexterity of human arm.

Biography:  Dr. Chang received M.Sc degree and Ph.D. degree both in mechanical engineering from Massachusetts Institute of Technology, in 1984 and 1987, respectively.  He had been a professor at KAIST, Daejon, Korea for 24 years, and now is a professor and head of robotics engineering of DGIST, Daegu, Korea. His current research interests include rehabilitation robotics, robust control of nonlinear systems including kinematically redundant manipulators, and impedance control of dual-arm manipulators. He has authored more than 46 papers in international journals, 22 papers in domestic journals, and 88 papers in conference proceedings. Currently he serves as the Dean of graduate studies of DGIST.