Predicting grasp inertia with a geometric model

Gideon Kowadlo*, Jason Friedman, Tamar Flash

*Corresponding author for this work

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

Abstract

Controlling fnger impedance is critical for successful grasping. Understanding how humans achieve this is of great interest for learning about human motor control, as well as for applications in robotic grasping. There have been a number of studies on finger impedance in both the robotics and biological fields. They almost exclusively consider only stiffness and viscosity. However, inertia may play an important role in certain grasps, and is important for calculation of the other impedance properties. This paper reports current progress of a project to create a geometric model of the hand for predicting hand/grasp inertia at different configurations (sensed by a glove that measures joint angles) during a variety of tasks.

Original languageEnglish
Title of host publicationProceedings of the 2005 Australasian Conference on Robotics and Automation, ACRA 2005
Publication statusPublished - 2005
Event2005 Australian Conference on Robotics and Automation, ACRA 2005 - Sydney, NSW, Australia
Duration: 5 Dec 20057 Dec 2005

Other

Other2005 Australian Conference on Robotics and Automation, ACRA 2005
CountryAustralia
CitySydney, NSW
Period5/12/057/12/05

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