Title :
Evaluation of coordination between grasp and load forces in power grasp in humans with a haptic interface
Author :
Podobnik, Janez ; Munih, Marko
Author_Institution :
Fac. of Electr. Eng., Ljubljana Univ.
Abstract :
A novel approach for evaluation of a grasp in human is presented. The key novelty is a combination of a haptic interface with force/torque transducers for measuring grasp force. Paper presents results of a grasp and load force coordination for quasi-static and dynamic external load force disturbances for a power grasp. An elevation of the grasp force is observed in dynamic task. Elevation of the grasp force is needed for additional safety margin to ensure a stable grasp
Keywords :
dexterous manipulators; haptic interfaces; manipulator dynamics; force/torque transducers; grasp force; haptic interface; multifingered robot hand; Admittance; Force measurement; Grasping; Haptic interfaces; Humans; Laboratories; Robot kinematics; Safety; Torque measurement; Virtual environment;
Conference_Titel :
Robotics and Automation, 2006. ICRA 2006. Proceedings 2006 IEEE International Conference on
Conference_Location :
Orlando, FL
Print_ISBN :
0-7803-9505-0
DOI :
10.1109/ROBOT.2006.1642126
