Robotic object grasping in context of human grasping and manipulation

Pavel Dzitac, Abdul Md Mazid

Research output: Chapter in Book/Report/Conference proceedingConference proceeding contributionpeer-review

1 Citation (Scopus)

Abstract

This paper presents experimental and deductive findings that shed new light on grasp force estimation, which improves robot's chances to grasp and manipulate the object close to optimum conditions on the first attempt, which in turn improves robot's object manipulation dexterity. This paper proposes that object slippage detection in the human hand is not detected based purely on micro-vibrations sensed by the human skin during incipient slippage but also on load sensing at each finger and movement of fingers relative to each other while holding an object.

Original languageEnglish
Title of host publicationProceedings of the 2013 6th IEEE Conference on Robotics, Automation and Mechatronics, RAM 2013
Place of PublicationPiscataway, NJ
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages201-206
Number of pages6
ISBN (Electronic)9781479911981
ISBN (Print)9781479911998, 9781479912018
DOIs
Publication statusPublished - 2013
Externally publishedYes
Event2013 6th IEEE Conference on Robotics, Automation and Mechatronics, RAM 2013 - Manila, Philippines
Duration: 12 Nov 201315 Nov 2013

Other

Other2013 6th IEEE Conference on Robotics, Automation and Mechatronics, RAM 2013
Country/TerritoryPhilippines
CityManila
Period12/11/1315/11/13

Keywords

  • slippage
  • robotic grasping
  • grasp force
  • human grasping

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