Robustness of power grasp with human skin characteristics

Tomoaki Hiruta, Syusaku Sugamoto, Kazuhiro Kosuge

Research output: Contribution to conferencePaper

1 Citation (Scopus)

Abstract

Human skin has anisotropic elasticity. In this paper, we reveal that robustness of power grasp is improved by assuming human-skin-like anisotropic elasticity of fingers. First, we briefly introduce a conventional method to derive contact forces considering compliant contacts between an object and robot fingers, which has been proposed in [2]. Then, we model human skin characteristic with anisotropic elasticity and propose an algorithm based on a linear programming method to measure robustness of a given power grasp model with a multiflngered hand with human-skin-like anisotropic elasticity. Finally, calculation of a stability region for a planar power grasp model shows that the robustness of the power grasp is improved by assuming human-skin-like anisotropic elasticity at contact points.

Original languageEnglish
Pages881-886
Number of pages6
Publication statusPublished - 2005 Nov 16
EventProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States
Duration: 2005 Jul 242005 Jul 28

Other

OtherProceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
CountryUnited States
CityMonterey, CA
Period05/7/2405/7/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Hiruta, T., Sugamoto, S., & Kosuge, K. (2005). Robustness of power grasp with human skin characteristics. 881-886. Paper presented at Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005, Monterey, CA, United States.