Analysis of Multifingered Hands

Kerr, J. B.; Roth, Bernard

doi:10.1177/027836498600400401

Cited by 817 publications

(310 citation statements)

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“…The elements of an internal force vector cancel each other and, hence, do not contribute to the resultant force and moment acting on the object (Mason and Salisbury 1985;Kerr and Roth 1986;Yoshikawa and Nagai 1991;Murray et al 1994). It has been shown that during the performance, people exert internal moments on the object such that the moments of the normal and tangential forces (M n and M t , respectively) change in opposite directions in synchrony and cancel each other.…”

Section: Introductionmentioning

confidence: 99%

Maintaining rotational equilibrium during object manipulation: linear behavior of a highly non-linear system

2005

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We address issues of simultaneous control of the grasping force and the total moment of forces applied to a handheld object during its manipulation. Six young healthy male subjects grasped an instrumented handle and performed its cyclic motion in the vertical direction. The handle allowed for setting different clockwise (negative) or counterclockwise torques. Three movement frequencies: 1, 1.5 and 2 Hz, and five different torques: −1/3, −1/6, 0, 1/6 and 1/3 Nm, were used. The rotational equilibrium was maintained by two means: (1) Concerted changes of the moments produced by the normal and tangential forces, specifically anti-phase changes of the moments during the tasks with zero external torque and in-phase changes during the non-zero-torque tasks, and (2) Redistribution of the normal forces among individual fingers such that the agonist fingers-the fingers that resist external torque-increased the force in phase with the acceleration, while the forces of the antagonist fingers-those that assist the external torque-especially, the fingers with the large moment arms, the index and little fingers, stayed unchanged. The observed effects agree with the principle of superposition-according to which some complex actions, for example, prehension, can be decomposed into elemental actions controlled independently-and the mechanical advantage hypothesis according to which in moment production the fingers are activated in proportion to their moment arms with respect to the axis of rotation. We would like to emphasize the linearity of the observed relations, which was not prescribed by the task mechanics and seems to be produced by specific neural control mechanisms.

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Section: Introductionmentioning

confidence: 99%

Maintaining rotational equilibrium during object manipulation: linear behavior of a highly non-linear system

2005

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“…Since the finger force has higher number of variables than the number of constraints in the equation of motion, there exist a lot of solutions, and it needs to be optimized [17], [18], [19]. The optimization process should take the frictional contact constraints into account, which is introduced in Section IV and Appendix, and here, we first determine the reaction force that can minimize the magnitude of the finger force.…”

Section: Optimization Policymentioning

confidence: 99%

“…The basic algorithms can be found in [17], [24], [25], while the main contribution of this paper is to adopt them to the multi-contact manipulation tasks under Reactional Internal Contact Hypothesis.…”

Section: Grasping Force Computationmentioning

confidence: 99%

Robotic handwriting: Multi-contact manipulation based on Reactional Internal Contact Hypothesis

Kim

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Abstract-When one uses a hand-held tool, the fingers often make the tool to be in contact with the palm in the form of multi-contact manipulation. Multi-contact manipulation is useful for object-environment interaction tasks because it can provide both powerful grasping of the object body and dexterous manipulation of the object end-effector. However, dealing with the internal link contact with the object is not trivial. In this paper, we propose Reactional Internal Contact Hypothesis that regards the internal contact force as a reaction force so that the desired finger force can be reduced. By taking a handwriting task as an example, optimal configuration search and grasping force computation problems are addressed based on this hypothesis and validated via dynamic simulation.

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“…To achieve a no-slippage contact grip, the following contact and friction constraints have to be satisfied (Kerr andRoth 1986, Montana 1992).…”

Section: Grasp Conditionsmentioning

confidence: 99%

“…Early attempts such as Kerr and Roth (1986), for example, proposed a linear programming approach to consider the intrinsic inequalities of the system which result from manipulatorobject contact criteria. Kumar and Waldron (1988) suggested using interaction forces to address this problem.…”

Section: Introductionmentioning

confidence: 99%

Robust control of planar dual-arm cooperative manipulators

Liu¹,

Abdel‐Malek

2000

Robotics and Computer-Integrated Manufacturing

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A robust control method is developed for a planar dual-arm manipulator system. Contact and friction constraints for grasp conditions are considered. An optimization algorithm is developed such that a minimization of the energy consumed by the participating arms subject to equality and inequality constraints of grasp and friction constraints. The necessary KarushKun-Tucker conditions are implemented to characterize admissible solutions. A robust controller is proposed using a switching-sliding algorithm for modeling imprecision and disturbances. The switching-sliding mode is then replaced by a saturation function that results in the elimination of the fundamental cause for control chatter. The formulation presents a control algorithm that is well suited for dual-arm cooperative manipulators.

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Analysis of Multifingered Hands

Cited by 817 publications

References 1 publication

Maintaining rotational equilibrium during object manipulation: linear behavior of a highly non-linear system

Maintaining rotational equilibrium during object manipulation: linear behavior of a highly non-linear system

Robotic handwriting: Multi-contact manipulation based on Reactional Internal Contact Hypothesis

Robust control of planar dual-arm cooperative manipulators

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