Robustness of power grasp with human skin characteristics

Tomoaki Hiruta; Syusaku Sugamoto; Kazuhiro Kosuge

doi:10.1109/aim.2005.1511120

Robustness of power grasp with human skin characteristics

Tomoaki Hiruta
, Syusaku Sugamoto
, Kazuhiro Kosuge

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

1 Citation (Scopus)

Abstract

Human skin has anisotropic elasticity. In this paper, we reveal that robustness of power grasp is improved by assuming human-skin-like anisotropic elasticity of fingers. First, we briefly introduce a conventional method to derive contact forces considering compliant contacts between an object and robot fingers, which has been proposed in [2]. Then, we model human skin characteristic with anisotropic elasticity and propose an algorithm based on a linear programming method to measure robustness of a given power grasp model with a multiflngered hand with human-skin-like anisotropic elasticity. Finally, calculation of a stability region for a planar power grasp model shows that the robustness of the power grasp is improved by assuming human-skin-like anisotropic elasticity at contact points. © 2005 IEEE.

Original language	English
Title of host publication	Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
Pages	881-886
Volume	2
DOIs	https://doi.org/10.1109/aim.2005.1511120
Publication status	Published - 2005
Externally published	Yes
Event	Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 - Monterey, United States Duration: 24 Jul 2005 → 28 Jul 2005 https://aimrl.gatech.edu/AIM2005/index.html

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume	2

Conference

Conference	Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005
Place	United States
City	Monterey
Period	24/07/05 → 28/07/05
Internet address	https://aimrl.gatech.edu/AIM2005/index.html

Bibliographical note

Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

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Hiruta, T., Sugamoto, S., & Kosuge, K. (2005). Robustness of power grasp with human skin characteristics. In Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 (Vol. 2, pp. 881-886). Article TC2-03 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2). https://doi.org/10.1109/aim.2005.1511120

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title = "Robustness of power grasp with human skin characteristics",

abstract = "Human skin has anisotropic elasticity. In this paper, we reveal that robustness of power grasp is improved by assuming human-skin-like anisotropic elasticity of fingers. First, we briefly introduce a conventional method to derive contact forces considering compliant contacts between an object and robot fingers, which has been proposed in [2]. Then, we model human skin characteristic with anisotropic elasticity and propose an algorithm based on a linear programming method to measure robustness of a given power grasp model with a multiflngered hand with human-skin-like anisotropic elasticity. Finally, calculation of a stability region for a planar power grasp model shows that the robustness of the power grasp is improved by assuming human-skin-like anisotropic elasticity at contact points. {\textcopyright} 2005 IEEE.",

author = "Tomoaki Hiruta and Syusaku Sugamoto and Kazuhiro Kosuge",

note = "Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].; Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005 ; Conference date: 24-07-2005 Through 28-07-2005",

year = "2005",

doi = "10.1109/aim.2005.1511120",

language = "English",

volume = "2",

series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

pages = "881--886",

booktitle = "Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005",

url = "https://aimrl.gatech.edu/AIM2005/index.html",

}

Hiruta, T, Sugamoto, S & Kosuge, K 2005, Robustness of power grasp with human skin characteristics. in Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005. vol. 2, TC2-03, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, vol. 2, pp. 881-886, Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005, Monterey, California, United States, 24/07/05. https://doi.org/10.1109/aim.2005.1511120

Robustness of power grasp with human skin characteristics. / Hiruta, Tomoaki; Sugamoto, Syusaku; Kosuge, Kazuhiro.
Proceedings of the 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2005. Vol. 2 2005. p. 881-886 TC2-03 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

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AU - Hiruta, Tomoaki

AU - Sugamoto, Syusaku

AU - Kosuge, Kazuhiro

N1 - Publication details (e.g. title, author(s), publication statuses and dates) are captured on an “AS IS” and “AS AVAILABLE” basis at the time of record harvesting from the data source. Suggestions for further amendments or supplementary information can be sent to [email protected].

PY - 2005

Y1 - 2005

N2 - Human skin has anisotropic elasticity. In this paper, we reveal that robustness of power grasp is improved by assuming human-skin-like anisotropic elasticity of fingers. First, we briefly introduce a conventional method to derive contact forces considering compliant contacts between an object and robot fingers, which has been proposed in [2]. Then, we model human skin characteristic with anisotropic elasticity and propose an algorithm based on a linear programming method to measure robustness of a given power grasp model with a multiflngered hand with human-skin-like anisotropic elasticity. Finally, calculation of a stability region for a planar power grasp model shows that the robustness of the power grasp is improved by assuming human-skin-like anisotropic elasticity at contact points. © 2005 IEEE.

AB - Human skin has anisotropic elasticity. In this paper, we reveal that robustness of power grasp is improved by assuming human-skin-like anisotropic elasticity of fingers. First, we briefly introduce a conventional method to derive contact forces considering compliant contacts between an object and robot fingers, which has been proposed in [2]. Then, we model human skin characteristic with anisotropic elasticity and propose an algorithm based on a linear programming method to measure robustness of a given power grasp model with a multiflngered hand with human-skin-like anisotropic elasticity. Finally, calculation of a stability region for a planar power grasp model shows that the robustness of the power grasp is improved by assuming human-skin-like anisotropic elasticity at contact points. © 2005 IEEE.

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DO - 10.1109/aim.2005.1511120

M3 - RGC 32 - Refereed conference paper (with host publication)

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T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

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ER -

Robustness of power grasp with human skin characteristics

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