Experiments in robotic sensorimotor control during grasp

Journal Article · · IEEE Transactions on Systems, Man, and Cybernetics (Institute of Electrical and Electronics Engineers); (United States)

DOI:https://doi.org/10.1109/21.256561· OSTI ID:5618137

Stansfield, S A ^[1]

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1. Sandia National Labs., Albuquerque, NM (United States)

A series of experiments is presented, using a robot manipulator, which attempt to reproduce human sensorimotor control during grasping. The work utilizes a multifingered, dexterous robot hand equipped with a fingertip force sensor to explore dynamic grasp force adjustment during manipulation. The work is primarily concerned with the relationship between the weight of an object and the grasp force required to lift it. Too weak a grasp is unstable and the object will slip from the hand. Too strong a grasp may damage the object and/or the manipulator. An algorithm is presented which reproduces observed human behavior during grasp-and-lift tasks. The algorithm uses tactile information from the sensor to dynamically adjust the grasp force during lift. It is assumed that there is no a priori knowledge about the object to be manipulated. The effects of different arm/hand postures and object surfaces is explored. Finally, the use of sensory data to detect unexpected object motion and to signal transitions between manipulation phases--with the coincident triggering of new motor programs--is investigated.

• DOE Contract Number: AC04-76DP00789
• OSTI ID: 5618137
• Journal Information: IEEE Transactions on Systems, Man, and Cybernetics (Institute of Electrical and Electronics Engineers); (United States), Journal Name: IEEE Transactions on Systems, Man, and Cybernetics (Institute of Electrical and Electronics Engineers); (United States) Vol. 23:3; ISSN ISYMAW; ISSN 0018-9472
• Country of Publication: United States
• Language: English

Related Subjects

42 ENGINEERING
420203* -- Engineering-- Handling Equipment & Procedures
ALGORITHMS
BODY
BODY AREAS
EQUIPMENT
HANDS
LABORATORY EQUIPMENT
LIMBS
MANIPULATORS
MATERIALS HANDLING EQUIPMENT
MATHEMATICAL LOGIC
PERFORMANCE TESTING
REMOTE HANDLING EQUIPMENT
ROBOTS
TESTING