{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,3]],"date-time":"2026-06-03T11:21:40Z","timestamp":1780485700911,"version":"3.54.1"},"reference-count":18,"publisher":"Cambridge University Press (CUP)","issue":"2","license":[{"start":{"date-parts":[[2008,3,1]],"date-time":"2008-03-01T00:00:00Z","timestamp":1204329600000},"content-version":"unspecified","delay-in-days":0,"URL":"https:\/\/www.cambridge.org\/core\/terms"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Robotica"],"published-print":{"date-parts":[[2008,3]]},"abstract":"<jats:title>SUMMARY<\/jats:title><jats:p>In order to widen the potentialities of manipulation of the Laboratoire de M\u00e9canique des solides (LMS) mechanical hand, we developed a new planning approach based on the use of a specific exoskeleton. This one has kinematics architecture and dimensions identical to the mechanical hand. This feature allows us to obtain manipulation trajectories for the mechanical hand, very easily and very quickly, by using the exoskeleton, without complex calibration. Manipulation's trajectories are replayed offline with an autonomous control, and, consequently, the exoskeleton is not used with any feedback strategy for telemanipulation. This paper presents the characteristics of this exoskeleton and the graphic interface that we developed. This one uses a method to determine the object's evolution during the manipulation with the exoskeleton, without using exteroceptive sensors. This new approach was tested for standard trajectories by simulation on a Computer-aided design (CAD) robotics system and by using the mechanical hand. Thus, we validate the use concept of an isomorphic exoskeleton to mechanical hand for manipulation planning with the LMS mechanical hand.<\/jats:p>","DOI":"10.1017\/s0263574707003736","type":"journal-article","created":{"date-parts":[[2007,8,21]],"date-time":"2007-08-21T08:22:19Z","timestamp":1187684539000},"page":"177-188","source":"Crossref","is-referenced-by-count":10,"title":["LMS robotic hand grasp and manipulation planning (an isomorphic exoskeleton approach)"],"prefix":"10.1017","volume":"26","author":[{"given":"D.","family":"Chaigneau","sequence":"first","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"M.","family":"Arsicault","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"J.-P.","family":"Gazeau","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"S.","family":"Zeghloul","sequence":"additional","affiliation":[],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"56","published-online":{"date-parts":[[2008,3,1]]},"reference":[{"key":"S0263574707003736_ref3","unstructured":"3. 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Kahlesz F. , Zachmann G. and Klein R. , \u201cVisual-fidelity dataglove calibration,\u201d Proceedings of the Computer Graphics International (June 2004) pp. 403\u2013410.","DOI":"10.1109\/CGI.2004.1309241"},{"key":"S0263574707003736_ref14","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574797000088"},{"key":"S0263574707003736_ref15","doi-asserted-by":"crossref","unstructured":"15. Gazeau J. P. , Zeghloul S. , Arsicault M. and Lallemand J. P. , \u201cThe LMS Hand: Force and Position Controls in the Aim of the Fine Manipulation of Objects,\u201d Proceedings of the IEEE International Conference on Robotics and Automation, Seoul, Korea (May 2001) pp. 2642\u20132648.","DOI":"10.1109\/ROBOT.2001.933021"},{"key":"S0263574707003736_ref17","doi-asserted-by":"publisher","DOI":"10.1017\/S0263574704001067"}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574707003736","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,1,20]],"date-time":"2025-01-20T13:54:12Z","timestamp":1737381252000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574707003736\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2008,3]]},"references-count":18,"journal-issue":{"issue":"2","published-print":{"date-parts":[[2008,3]]}},"alternative-id":["S0263574707003736"],"URL":"https:\/\/doi.org\/10.1017\/s0263574707003736","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[2008,3]]}}}