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 . 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.
|出版ステータス||Published - 2005 11 16|
|イベント||Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, CA, United States|
継続期間: 2005 7 24 → 2005 7 28
|Other||Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005|
|Period||05/7/24 → 05/7/28|
ASJC Scopus subject areas
- コンピュータ サイエンスの応用