Measurement of static constraints imposed by a human hand on a grasped object

Kazuya Matsuo, Kouji Murakami, Tsutomu Hasegawa, Kenji Tahara, Ryo Kurazume

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2009 International Conference on Advanced Robotics, ICAR 2009
Publication statusPublished - 2009
Event2009 International Conference on Advanced Robotics, ICAR 2009 - Munich, Germany
Duration: Jun 22 2009Jun 26 2009

Other

Other2009 International Conference on Advanced Robotics, ICAR 2009
CountryGermany
CityMunich
Period6/22/096/26/09

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering

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  • Cite this

    Matsuo, K., Murakami, K., Hasegawa, T., Tahara, K., & Kurazume, R. (2009). Measurement of static constraints imposed by a human hand on a grasped object. In 2009 International Conference on Advanced Robotics, ICAR 2009 [5174670]