Manipulation of compliant objects with compliant fingerpads: identification and control issues

Identification and control issues associated with manipulation are explored in a simplified manner. In particular, the authors clarify the roles played by tactile and kinesthetic information, and explore the nature of the dynamic interaction between the object and the fingerpad. The general problem of contact between two deformable bodies leads to a spatio-temporal analysis. The problem is simplified by adopting single degree-of-freedom lumped parameter models, thus reducing the variables to being purely temporal. Within this context, the problem includes the presence of nonlinearities, thus simulating a wide class of mechanical behavior of materials. The compliant object is assumed to be held by two compliant fingerpads in a pinch-grasp. Identification procedures to determine the dynamic parameters of the finger and the object are first considered. Once this phase is completed, the control issues in manipulation are addressed