Contact force computation for bimanual grasps

Abstract

This paper presents a method to compute con-\ud tact forces for bimanual grasps. The method is based on the\ud optimization of the force distribution of the hands and min-\ud imizing the force exerted by each finger, using two different\ud cost functions. Both cost functions and the constrains of the\ud optimization problem are formulated as functions of the joint\ud torques based on the existing relation between the grasping\ud forces, the hand-jacobian matrix and the torque of the joint\ud fingers. Additionally, a bimanual grasp index is presented to\ud measure the force distribution between the hands. The paper\ud includes some application examples of the proposed approacPeer ReviewedPostprint (author's final draft

Graphical visualization of contact forces and hand movements during in-hand manipulation

“…The problem of computing the forces exerted on a manipulated object using the torques applied to the joint motors has already been previously addressed, e.g. using a robotic hand without tactile sensors [8], or using a bi-manual robot [9] looking for the optimization of the forces applied on the manipulated object, but graphical representations of the real applied forces to help the user understanding the grasp during the development of grasping and manipulation strategies are not available.…”