TY  - CHAP
AU  - Rodić, Aleksandar
AU  - Miloradović, Branko
AU  - Popić, Svemir
AU  - Spasojević, Sofija
AU  - Karan, Branko
PY  - 2014
UR  - https://dais.sanu.ac.rs/123456789/721
AB  - The chapter presents the development of a modular compliant robotic hand characterized by the anthropomorphic structure and functionality. The prototype is made based on experience in development of contemporary advanced artificial hands and taking into account the complementary aspects of human bio-mechanics. The robot hand developed in the Institute Mihailo Pupin is called “Pupin hand”. The Pupin hand is developed for research purposes as well as for implementation with service and medical robot devices as an advance robot end-effector. Mechanical design, system identification, modeling and simulation and acquisition of the biological skill of grasping adopted from humans are considered in the chapter. Mechanical structure of the tendon-driven, multi-finger, 23 degrees of freedom compliant robot hand is presented in the chapter. Model of the hand is represented by corresponding multi-body rigid system with the complementary structural elasticity inserted between the particular finger modules. Some characteristic simulation results are given in the chapter in order to validate the chosen design concept. For the purpose of motion capture of human grasping skill, an appropriate experimental setup is prepared. It includes an infrared Kinect camera that combines visual and depth information about objects from the environment. The aim of using the Kinect sensor is to acquire human grasping skill and to map this natural motion to the robotic device. The novelties of the robot hand prototyping beyond to the state-of-the-art are stressed out in the conclusion.
PB  - Springer International Publishing
T2  - New Trends in Medical and Service Robots: Theory and Integrated Applications
T1  - Development of Modular Compliant Anthropomorphic Robot Hand
SP  - 205
EP  - 219
DO  - 10.1007/978-3-319-01592-7_15
UR  - https://hdl.handle.net/21.15107/rcub_dais_721
ER  - 

@inbook{
author = "Rodić, Aleksandar and Miloradović, Branko and Popić, Svemir and Spasojević, Sofija and Karan, Branko",
year = "2014",
abstract = "The chapter presents the development of a modular compliant robotic hand characterized by the anthropomorphic structure and functionality. The prototype is made based on experience in development of contemporary advanced artificial hands and taking into account the complementary aspects of human bio-mechanics. The robot hand developed in the Institute Mihailo Pupin is called “Pupin hand”. The Pupin hand is developed for research purposes as well as for implementation with service and medical robot devices as an advance robot end-effector. Mechanical design, system identification, modeling and simulation and acquisition of the biological skill of grasping adopted from humans are considered in the chapter. Mechanical structure of the tendon-driven, multi-finger, 23 degrees of freedom compliant robot hand is presented in the chapter. Model of the hand is represented by corresponding multi-body rigid system with the complementary structural elasticity inserted between the particular finger modules. Some characteristic simulation results are given in the chapter in order to validate the chosen design concept. For the purpose of motion capture of human grasping skill, an appropriate experimental setup is prepared. It includes an infrared Kinect camera that combines visual and depth information about objects from the environment. The aim of using the Kinect sensor is to acquire human grasping skill and to map this natural motion to the robotic device. The novelties of the robot hand prototyping beyond to the state-of-the-art are stressed out in the conclusion.",
publisher = "Springer International Publishing",
journal = "New Trends in Medical and Service Robots: Theory and Integrated Applications",
booktitle = "Development of Modular Compliant Anthropomorphic Robot Hand",
pages = "205-219",
doi = "10.1007/978-3-319-01592-7_15",
url = "https://hdl.handle.net/21.15107/rcub_dais_721"
}

Rodić, A., Miloradović, B., Popić, S., Spasojević, S.,& Karan, B.. (2014). Development of Modular Compliant Anthropomorphic Robot Hand. in New Trends in Medical and Service Robots: Theory and Integrated Applications
Springer International Publishing., 205-219.
https://doi.org/10.1007/978-3-319-01592-7_15
https://hdl.handle.net/21.15107/rcub_dais_721

Rodić A, Miloradović B, Popić S, Spasojević S, Karan B. Development of Modular Compliant Anthropomorphic Robot Hand. in New Trends in Medical and Service Robots: Theory and Integrated Applications. 2014;:205-219.
doi:10.1007/978-3-319-01592-7_15
https://hdl.handle.net/21.15107/rcub_dais_721 .

Rodić, Aleksandar, Miloradović, Branko, Popić, Svemir, Spasojević, Sofija, Karan, Branko, "Development of Modular Compliant Anthropomorphic Robot Hand" in New Trends in Medical and Service Robots: Theory and Integrated Applications (2014):205-219,
https://doi.org/10.1007/978-3-319-01592-7_15 .,
https://hdl.handle.net/21.15107/rcub_dais_721 .

TY  - CONF
AU  - Spasojević, Sofija
AU  - Karan, Branko
PY  - 2013
UR  - https://dais.sanu.ac.rs/123456789/720
AB  - Rad prikazuje jedan pristup u merenju 3D pozicija karakterističnih zglobova ljudske šake korišćenjem senzora tipa Kinect, kao jeftine alternative skupim vizuelnim sistemima. Navedene su osnovne karakteristike ovog senzora i ukratko je opisan kalibracioni model i način integracije parametara kalibracije u proces izračunavanja 3D koordinata izabranih tačaka u prostoru. Analizirana je ostvarena tačnost u merenju 3D koordinata zglobova duž primera trajektorije hvatanja cilindra. Analiza je sprovedena posmatranjem devijacija izmerenih dužina pojedinih segmenata prstiju. Uočene su značajne razlike grešaka merenja u zavisnosti od pozicije zgloba
na šaci.
AB  - This paper presents one approach for measurement of 3D positions of characteristic joints of human hand using a Kinect-type sensor as a low-cost alternative to expensive visual systems. Main properties of the sensor are indicated and a brief description of the calibration model and integration of calibration parameters in the process of calculating the 3D coordinates of selected points in space is given. Achieved accuracy in measurement of 3D coordinates of joints along sample cylinder grasping trajectory was analysed. The analysis was conducted by observing deviations in measured lengths of finger segments. Significant differences in measurement errors were found for different joints, depending on their position on the hand.
PB  - Beograd : Društvo za ETRAN
C3  - Zbornik radova 57. konferencije ETRAN, Zlatibor, 3-6. juna 2013
T1  - Primena senzora tipa Kinect u snimanju trajektorija zglobova šake
SP  - RO3.2.1
EP  - RO3.2.4
UR  - https://hdl.handle.net/21.15107/rcub_dais_720
ER  - 

@conference{
author = "Spasojević, Sofija and Karan, Branko",
year = "2013",
abstract = "Rad prikazuje jedan pristup u merenju 3D pozicija karakterističnih zglobova ljudske šake korišćenjem senzora tipa Kinect, kao jeftine alternative skupim vizuelnim sistemima. Navedene su osnovne karakteristike ovog senzora i ukratko je opisan kalibracioni model i način integracije parametara kalibracije u proces izračunavanja 3D koordinata izabranih tačaka u prostoru. Analizirana je ostvarena tačnost u merenju 3D koordinata zglobova duž primera trajektorije hvatanja cilindra. Analiza je sprovedena posmatranjem devijacija izmerenih dužina pojedinih segmenata prstiju. Uočene su značajne razlike grešaka merenja u zavisnosti od pozicije zgloba
na šaci., This paper presents one approach for measurement of 3D positions of characteristic joints of human hand using a Kinect-type sensor as a low-cost alternative to expensive visual systems. Main properties of the sensor are indicated and a brief description of the calibration model and integration of calibration parameters in the process of calculating the 3D coordinates of selected points in space is given. Achieved accuracy in measurement of 3D coordinates of joints along sample cylinder grasping trajectory was analysed. The analysis was conducted by observing deviations in measured lengths of finger segments. Significant differences in measurement errors were found for different joints, depending on their position on the hand.",
publisher = "Beograd : Društvo za ETRAN",
journal = "Zbornik radova 57. konferencije ETRAN, Zlatibor, 3-6. juna 2013",
title = "Primena senzora tipa Kinect u snimanju trajektorija zglobova šake",
pages = "RO3.2.1-RO3.2.4",
url = "https://hdl.handle.net/21.15107/rcub_dais_720"
}

Spasojević, S.,& Karan, B.. (2013). Primena senzora tipa Kinect u snimanju trajektorija zglobova šake. in Zbornik radova 57. konferencije ETRAN, Zlatibor, 3-6. juna 2013
Beograd : Društvo za ETRAN., RO3.2.1-RO3.2.4.
https://hdl.handle.net/21.15107/rcub_dais_720

Spasojević S, Karan B. Primena senzora tipa Kinect u snimanju trajektorija zglobova šake. in Zbornik radova 57. konferencije ETRAN, Zlatibor, 3-6. juna 2013. 2013;:RO3.2.1-RO3.2.4.
https://hdl.handle.net/21.15107/rcub_dais_720 .

Spasojević, Sofija, Karan, Branko, "Primena senzora tipa Kinect u snimanju trajektorija zglobova šake" in Zbornik radova 57. konferencije ETRAN, Zlatibor, 3-6. juna 2013 (2013):RO3.2.1-RO3.2.4,
https://hdl.handle.net/21.15107/rcub_dais_720 .

TY  - CONF
AU  - Šušić, Marko
AU  - Spasojević, Sofija
AU  - Karan, Branko
PY  - 2012
UR  - https://dais.sanu.ac.rs/123456789/716
AB  - The paper presents introductory results on analyzing effectiveness of using Kinect camera in realization of robotic manipulation tasks. Two available communication interfaces, Kinect for Windows and OpenNI are considered and compared from the standpoint of 3D data acquisition. A practical method for calibration of Kinect camera is implemented. The method involves identification of internal parameters of Kinect RGB and depth camera and external parametars in the form of relative transformation between the cameras.
AB  - U radu su prikazani uvodni rezultati analize efikasnosti upotrebe Kinect kamere u realizaciji robotskih zadataka koji se odnose na manipulaciju. Razmotreni su i uporeðeni softverski paketi Kinect for Windows i OpenNI sa stanovišta 3D akvizicije podataka. Implementirana je praktična metoda za kalibraciju Kinect kamere. Metoda uključuje identifikaciju unutrašnjih parametara RGB i dubinske kamere, kao i spoljašnjih parametara u vidu relativne transformacije između kamera.
PB  - Beograd : Društvo za ETRAN
C3  - Zbornik radova 56. konferencije ETRAN, Zlatibor, 11-14. juna 2012
C3  - Proceedings of the 56th ETRAN Conference, Zlatibor, June 11-14, 2012
T1  - Akvizicija 3D podataka i praktična kalibracija Microsoft Kinect kamere
SP  - RO2.4.1
EP  - RO2.4.4
UR  - https://hdl.handle.net/21.15107/rcub_dais_716
ER  - 

@conference{
author = "Šušić, Marko and Spasojević, Sofija and Karan, Branko",
year = "2012",
abstract = "The paper presents introductory results on analyzing effectiveness of using Kinect camera in realization of robotic manipulation tasks. Two available communication interfaces, Kinect for Windows and OpenNI are considered and compared from the standpoint of 3D data acquisition. A practical method for calibration of Kinect camera is implemented. The method involves identification of internal parameters of Kinect RGB and depth camera and external parametars in the form of relative transformation between the cameras., U radu su prikazani uvodni rezultati analize efikasnosti upotrebe Kinect kamere u realizaciji robotskih zadataka koji se odnose na manipulaciju. Razmotreni su i uporeðeni softverski paketi Kinect for Windows i OpenNI sa stanovišta 3D akvizicije podataka. Implementirana je praktična metoda za kalibraciju Kinect kamere. Metoda uključuje identifikaciju unutrašnjih parametara RGB i dubinske kamere, kao i spoljašnjih parametara u vidu relativne transformacije između kamera.",
publisher = "Beograd : Društvo za ETRAN",
journal = "Zbornik radova 56. konferencije ETRAN, Zlatibor, 11-14. juna 2012, Proceedings of the 56th ETRAN Conference, Zlatibor, June 11-14, 2012",
title = "Akvizicija 3D podataka i praktična kalibracija Microsoft Kinect kamere",
pages = "RO2.4.1-RO2.4.4",
url = "https://hdl.handle.net/21.15107/rcub_dais_716"
}

Šušić, M., Spasojević, S.,& Karan, B.. (2012). Akvizicija 3D podataka i praktična kalibracija Microsoft Kinect kamere. in Zbornik radova 56. konferencije ETRAN, Zlatibor, 11-14. juna 2012
Beograd : Društvo za ETRAN., RO2.4.1-RO2.4.4.
https://hdl.handle.net/21.15107/rcub_dais_716

Šušić M, Spasojević S, Karan B. Akvizicija 3D podataka i praktična kalibracija Microsoft Kinect kamere. in Zbornik radova 56. konferencije ETRAN, Zlatibor, 11-14. juna 2012. 2012;:RO2.4.1-RO2.4.4.
https://hdl.handle.net/21.15107/rcub_dais_716 .

Šušić, Marko, Spasojević, Sofija, Karan, Branko, "Akvizicija 3D podataka i praktična kalibracija Microsoft Kinect kamere" in Zbornik radova 56. konferencije ETRAN, Zlatibor, 11-14. juna 2012 (2012):RO2.4.1-RO2.4.4,
https://hdl.handle.net/21.15107/rcub_dais_716 .