File Download
There are no files associated with this item.
Links for fulltext
(May Require Subscription)
- Publisher Website: 10.1109/AIM.2005.1511120
- Scopus: eid_2-s2.0-27644534249
Supplementary
-
Citations:
- Scopus: 0
- Appears in Collections:
Conference Paper: Robustness of power grasp with human skin characteristics
Title | Robustness of power grasp with human skin characteristics |
---|---|
Authors | |
Issue Date | 2005 |
Citation | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2005, v. 2, p. 881-886 How to Cite? |
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 Bicchi, A (1993). 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. © 2005 IEEE. |
Persistent Identifier | http://hdl.handle.net/10722/302734 |
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Hiruta, Tomoaki | - |
dc.contributor.author | Sugamoto, Syusaku | - |
dc.contributor.author | Kosuge, Kazuhiro | - |
dc.date.accessioned | 2021-09-07T08:42:29Z | - |
dc.date.available | 2021-09-07T08:42:29Z | - |
dc.date.issued | 2005 | - |
dc.identifier.citation | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, 2005, v. 2, p. 881-886 | - |
dc.identifier.uri | http://hdl.handle.net/10722/302734 | - |
dc.description.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 Bicchi, A (1993). 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. © 2005 IEEE. | - |
dc.language | eng | - |
dc.relation.ispartof | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM | - |
dc.title | Robustness of power grasp with human skin characteristics | - |
dc.type | Conference_Paper | - |
dc.description.nature | link_to_subscribed_fulltext | - |
dc.identifier.doi | 10.1109/AIM.2005.1511120 | - |
dc.identifier.scopus | eid_2-s2.0-27644534249 | - |
dc.identifier.volume | 2 | - |
dc.identifier.spage | 881 | - |
dc.identifier.epage | 886 | - |