Experimental study on grasp force control characteristics of a human.

The shearing strain of the human fingertip plays an important role in the determination of the optimal grasping force and in the perception of texture. Most research concerned with the mechanical impedance of the human fingertips has treated the orthogonal direction to the tip surface, and little attention has been paid to the tangential direction. This paper describes impedance characteristics of the human fingertips in the tangential directions to the tip surface. In the experiment, step and ramp shearing forces were individually applied to the tips of the thumb, middle finger, and little finger. Dynamics of the fingertips were represented by the Kelvin model. Experimental results show that each fingertip had different properties with respect to the shearing strain versus the applied force, and that the thumb had the strongest shearing stiffness among these three digits. Moreover, the shearing stiffness depended on the direction of the applied force, and the stiffness in the pointing direction was stronger than that in the perpendicular direction. As the contact force in the orthogonal direction to the fingertip surface was increased, the shearing stiffness and viscosity increased without regard to the load speed of the shearing force. Furthermore, it is shown that the average strain rate of the fingertip in the tangential direction to the fingertip surface became slower and converged to a constant value with higher contact forces.

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“…Westling and Johansson 1984;Kim et al 1993;Flanagan and Wing 1995). Many studies of human grasping behavior have been conducted (e.g.…”

Section: Introductionmentioning

confidence: 99%

Characteristics of human fingertips in the shearing direction

Nakazawa

Ikeura

Inooka

2000

Biological Cybernetics

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100

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“…3. Equation of motion of the piston and slide of the rodless cylinder are formed by resolving the forces acting inside the cylinder [8], [9], [10]. The equation of motion for the motion of the piston rod can be stated as below…”

Section: Lifting Mechanismmentioning

confidence: 99%

Experimental Examination on t he Pneumatic Lifting Method of Deformable Object

Jaafar*,

Ayub

2019

IJEAT

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Industries such as agriculture and food have used polypropylene bag widely used as it is cheap and easy to find. Fertilizers industry especially needed to use the polypropylene bag that have high protection barrier against the high-level humidity especially we living in Malaysia that have high humidity in the air. By layering the polypropylene bag with another polypropylene bag, the moisture problem can be overcome. The polypropylene bag for fertilizers consists of 2 layers which is the woven polypropylene bag and the clear polypropylene bag. However, when assembling this two-polypropylene bag, worker needed to manually insert the clear polypropylene bag into the woven bag. This increases the time process in production, high labour force needed and also higher cost for mass production. Furthermore, repetitive works can cause strain to the worker and increases the number of errors. To overcome this issue, the automated polypropylene bag assembly system is proposed. For this paper, we only focus on the lifting method of the automated polypropylene bag assembly system. With the used of the automated polypropylene bag assembly system, the repetitive works and labour force can be reduced. This will also give out cleaner and consistent last product

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“…Human beings are the best example to perform agile manipulations even though the object being handled is fragile. This is being said that the ability of manipulation of agile object is based on precision handling with minimal force by which the object can be held (Johansson & Westling, 1984;Kim Shiire, & Inooka, 1993;Nakazawa, Ikeura, & Inooka 1996) [ 7,8,9]. In Figure 2, shows example of the robotic arm trying to grasp a deformable object (plastic cup) using different controller.…”

Section: Robotics For Handling Deformable Materialsmentioning

confidence: 99%

Tactile Sensor for Manipulation of Deformable Object

Ayub¹,

A.Jaafar

Latif

2018

IJET

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The variable physical property of deformable objects, which are very flexible, soft and viscoelastic, causes the design of reliable automated handling system relatively difficult. In fact, most of these objects tend to be handled manually during the handling process. Therefore, a new optical tactile sensor for an intelligent handling of the non-rigid materials is presented in this paper. Mathematical modelling and control algorithm are developed and the tactile sensor is calibrated in this research. Based on the results that have been recorded, the surface characterization with the respect to normal force applied to the object is attained. A gripper handling system is used to accommodate variable physical properties of the deformable materials, which are very flexible, soft and viscoelastic. In addition to that, the gripper needs to handle the materials with the minimum deformation so that less distortion, and higher accuracy of manipulation can be achieved. Efficient and accurate modelling of deformations is crucial for grasping analysis.

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Experimental study on grasp force control characteristics of a human.

Cited by 6 publications

References 8 publications

Characteristics of human fingertips in the shearing direction

Characteristics of human fingertips in the shearing direction

Experimental Examination on t he Pneumatic Lifting Method of Deformable Object

Tactile Sensor for Manipulation of Deformable Object

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