Reflective grasp force control of humans induced by distributed vibration stimuli on finger skin with ICPF actuators

Nakamoto Masataka, Takashi Maeno, Masashi Konyo, Satoshi Tadokoro

研究成果: Conference contribution

8 引用 (Scopus)

抜粋

A method is proposed to control human grasping force unconsciously by generating small distributed vibration stimuli on a finger based on a human reflex action against detection of partial slippage of contact. Human beings can increase grasping force before the grasped object slips off the fingers based on afferent signals from tactile receptors that detect the expansion of the partial slippage area. We assumed that vibration stimuli that have an appropriate frequency and distribution generate a virtual sensation of partial slippages and induce a reflective grasping force increase. Grasping experiments with minute distributed vibration stimuli using ICPF (Ionic Conducting Polymer gel Film) actuators were performed. Experiments results showed that the effective vibratory frequency was 30 Hz, which is the most sensitive range for Meissner's corpuscles that are closely related to detection of partial slippage. We also found that distribution of vibration stimuli were important to produce human grasping force increase.

元の言語English
ホスト出版物のタイトルProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
ページ3899-3904
ページ数6
DOI
出版物ステータスPublished - 2006 12 27
イベント2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
継続期間: 2006 5 152006 5 19

出版物シリーズ

名前Proceedings - IEEE International Conference on Robotics and Automation
2006
ISSN(印刷物)1050-4729

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
United States
Orlando, FL
期間06/5/1506/5/19

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • これを引用

    Masataka, N., Maeno, T., Konyo, M., & Tadokoro, S. (2006). Reflective grasp force control of humans induced by distributed vibration stimuli on finger skin with ICPF actuators. : Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 3899-3904). [1642299] (Proceedings - IEEE International Conference on Robotics and Automation; 巻数 2006). https://doi.org/10.1109/ROBOT.2006.1642299