Grasp Admittance Center: Choosing Admittance Center Parameters

Extending the Grasp Compliance Center concept to grasps in dynamic situations, our previous work (Shimoga and Goldenberg, 1991) formulated a concept termed the Grasp Admittance Center and showed that a grasp with an admittance center will have 4 distinct advantages ¿ stability, decoupled force/motion relation, decoupled time response and the ease of assigning the grasp dynamic behavior. A grasp admittance center is completely specified by 5 parameters: the position and the orientation of the admittance frame, and the diagonal stiffness, damping and inertia matrices expressed in that frame. These parameters are collectively referred to as the admittance center parameters and choosing them carefully is an important step is using an admittance center. Developing a method of choosing them, in a given grasp and a set of tasks, is the goal of this paper.