TY - GEN
T1 - Measurement of static constraints imposed by a human hand on a grasped object
AU - Matsuo, Kazuya
AU - Murakami, Kouji
AU - Hasegawa, Tsutomu
AU - Tahara, Kenji
AU - Kurazume, Ryo
PY - 2009
Y1 - 2009
N2 - This paper proposes a method of directly measuring static constraints imposed by a human hand on a grasped object.Based on the analysis of the demonstration data of the human grasp, the static constraints are expressed as a combination of frictional force and normal force generated by the human hand.The static constraints are an important property to be mapped to robotic hands in the programming-by-demonstration.Measured static constraints are to be generated to robotic hands to establish the stable grasp.In the experiments, we have successfully measured the static constraints appeared in various different grasps used in the daily human life.
AB - This paper proposes a method of directly measuring static constraints imposed by a human hand on a grasped object.Based on the analysis of the demonstration data of the human grasp, the static constraints are expressed as a combination of frictional force and normal force generated by the human hand.The static constraints are an important property to be mapped to robotic hands in the programming-by-demonstration.Measured static constraints are to be generated to robotic hands to establish the stable grasp.In the experiments, we have successfully measured the static constraints appeared in various different grasps used in the daily human life.
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M3 - Conference contribution
AN - SCOPUS:70449440563
SN - 9781424448555
T3 - 2009 International Conference on Advanced Robotics, ICAR 2009
BT - 2009 International Conference on Advanced Robotics, ICAR 2009
T2 - 2009 International Conference on Advanced Robotics, ICAR 2009
Y2 - 22 June 2009 through 26 June 2009
ER -