โ Scribed by I. Kim; H. Inooka
No coin nor oath required. For personal study only.
This paper discusses a physiological approach motivated by the study of human hands for robot hand force control. Firstly, a human's grasping behavior is analyzed to see how humaas determine the grasp forces. The human controls the grasp force by sensing the friction force, that is, the weight of the object which is felt on his hand, but when slip is detected by sensing skin acceleration, the grasp force becomes much greater than the minimum force required for grasping by adding the force which is proportional to the acceleration. Two methods that can predict when and how fingers will slip upon a grasped object are considered. To emulate the human's capabilities, a method for determination of a grasp force is presented, which uses the change in the friction force. Experimental results show that the proposed method can be applied to the control of robot hands to grasp objects of arbitrary weight stably without skin-like slip sensors.
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