DocumentCode
3185109
Title
Experimental evaluation of human grasps using a sensorized object
Author
Roa, Maximo A. ; Kõiva, Risto ; Castellini, Claudio
Author_Institution
Inst. of Robot. & Mechatron., DLR (German Aerosp. Center), Wessling, Germany
fYear
2012
fDate
24-27 June 2012
Firstpage
1662
Lastpage
1668
Abstract
Grasp quality measures have been studied for long time, given their importance to evaluate the goodness/convenience of a grasp made with a robotic hand. However, the application of these quality measures to grasps made by humans has just recently received some attention. This paper presents an experimental evaluation and comparison of different measures, using data obtained with a sensorized object. The experiment compares power grasps and precision grasps obtained with different number of fingers. The results intend to be a guide to the application of such qualities in the evaluation of robotic grasp actions.
Keywords
manipulators; sensors; experimental evaluation; grasp quality measurement; human grasps; power grasps; precision grasps; quality measurement; robotic grasp actions; robotic hand; sensorized object; Approximation methods; Force; Grasping; Humans; Tactile sensors;
fLanguage
English
Publisher
ieee
Conference_Titel
Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS & EMBS International Conference on
Conference_Location
Rome
ISSN
2155-1774
Print_ISBN
978-1-4577-1199-2
Type
conf
DOI
10.1109/BioRob.2012.6290670
Filename
6290670
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