Robustness of power grasp with human skin characteristics

Tomoaki Hiruta, Syusaku Sugamoto, Kazuhiro Kosuge

研究成果: Paper査読

1 被引用数 (Scopus)

抄録

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.

本文言語English
ページ881-886
ページ数6
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 242005 7 28

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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