DocumentCode :
389592
Title :
Investigation of the touch processing model in human grasping based on the stick ratio within a fingertip contact interface
Author :
Tada, Mitsunori ; Shibata, Tomohiro ; Ogasawara, Tsukasa
Author_Institution :
Digital Human Lab., Nat. Inst. of Adv. Ind. Sci. & Technol., Tokyo, Japan
Volume :
5
fYear :
2002
fDate :
6-9 Oct. 2002
Abstract :
Transition of a fingertip contact state during manipulative tasks of human is considered to have essence of skillful force control. In this paper, a scalar parameter representing the contact state of a fingertip concurrent with incipient slip is derived. Also, the grip force control hypothesis based on the stick ratio is proposed. Using the proposed hypothesis, proper grip force can be realized just maintaining a fingertip contact state as similar as possible regardless of the grasped object. The validness of the hypothesis is confirmed by simulations in which the stick ratio sensibility of human is investigated, and psychophysical experiments in which transition of the stick ratio and the grip/load force during lifting tasks is measured.
Keywords :
force control; tactile sensors; fingertip contact state; force control; grip force control; incipient slip; manipulative tasks; scalar parameter; stick ratio; strain energy density; Force control; Force measurement; Force sensors; Grasping; Humans; Psychology; Robot sensing systems; Service robots; Strain measurement; Virtual reality;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Systems, Man and Cybernetics, 2002 IEEE International Conference on
ISSN :
1062-922X
Print_ISBN :
0-7803-7437-1
Type :
conf
DOI :
10.1109/ICSMC.2002.1176358
Filename :
1176358
Link To Document :
بازگشت