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Title: Experiments in robotic sensorimotor control during grasp

Abstract

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.

Authors:
 [1]
  1. Sandia National Labs., Albuquerque, NM (United States)
OSTI Identifier:
5618137
DOE Contract Number:  
AC04-76DP00789
Resource Type:
Journal Article
Journal Name:
IEEE Transactions on Systems, Man, and Cybernetics (Institute of Electrical and Electronics Engineers); (United States)
Additional Journal Information:
Journal Volume: 23:3; Journal ID: ISSN 0018-9472
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; ROBOTS; PERFORMANCE TESTING; ALGORITHMS; HANDS; MANIPULATORS; BODY; BODY AREAS; EQUIPMENT; LABORATORY EQUIPMENT; LIMBS; MATERIALS HANDLING EQUIPMENT; MATHEMATICAL LOGIC; REMOTE HANDLING EQUIPMENT; TESTING; 420203* - Engineering- Handling Equipment & Procedures

Citation Formats

Stansfield, S A. Experiments in robotic sensorimotor control during grasp. United States: N. p., Web. doi:10.1109/21.256561.
Stansfield, S A. Experiments in robotic sensorimotor control during grasp. United States. doi:10.1109/21.256561.
Stansfield, S A. . "Experiments in robotic sensorimotor control during grasp". United States. doi:10.1109/21.256561.
@article{osti_5618137,
title = {Experiments in robotic sensorimotor control during grasp},
author = {Stansfield, S A},
abstractNote = {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.},
doi = {10.1109/21.256561},
journal = {IEEE Transactions on Systems, Man, and Cybernetics (Institute of Electrical and Electronics Engineers); (United States)},
issn = {0018-9472},
number = ,
volume = 23:3,
place = {United States},
year = {},
month = {}
}