2023
DOI: 10.36227/techrxiv.22145723
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A Novel Incipient Slip Degree Evaluation Method and its Application in Adaptive Control of Grasping Force

Abstract: <p>Grasping is the most basic and important function of robots. However, the grasping performance of existing manipulators is far inferior to that of human hands. Human hands are able to evaluate the degree of incipient slip on contact surface based on tactile information during grasping process and thus regulate grasping force. As a result, humans can use the smallest possible grasping force while ensuring successful grasping, which maximizes the performance of their hands and avoids damaging the graspe… Show more

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“…Recent visuotactile sensors are still mainly applied for robot grasping and manipulation. Researchers have explored their application in tasks such as dexterous manipulation [39], grasp control [40], and dynamic evaluation [41]. However, attempts for human-computer interaction have been limited and dated [33], [42].…”
Section: Visuotactile Sensing Technologymentioning
confidence: 99%
“…Recent visuotactile sensors are still mainly applied for robot grasping and manipulation. Researchers have explored their application in tasks such as dexterous manipulation [39], grasp control [40], and dynamic evaluation [41]. However, attempts for human-computer interaction have been limited and dated [33], [42].…”
Section: Visuotactile Sensing Technologymentioning
confidence: 99%