Robotic object grasping in context of human grasping and manipulation

This paper presents experimental and deductive findings that shed new light on grasp force estimation, which improves robot´s chances to grasp and manipulate the object close to optimum conditions on the first attempt, which in turn improves robot´s object manipulation dexterity. This paper proposes that object slippage detection in the human hand is not detected based purely on micro-vibrations sensed by the human skin during incipient slippage but also on load sensing at each finger and movement of fingers relative to each other while holding an object.