Robotic stiffness control and calibration as applied to human grasping tasks

Kao, Imin; Cutkosky, Mark R.; Johansson, Roland S.

doi:10.1109/70.611319

Cited by 70 publications

(44 citation statements)

References 21 publications

(53 reference statements)

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“…This has been shown recently, in relation to the stiffness of the thumb and index finger during a grasping task [7]. Studies of the impedance of the human arm indicate that directional differences in stiffness can be as large as an order of magnitude [8].…”

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confidence: 99%

Characterization of multijoint finger stiffness: dependence on finger posture and force direction

Milner

Franklin

1998

IEEE Trans. Biomed. Eng.

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Abstract-The two-dimensional static stiffness of the index finger was measured with the interphalangeal joints in flexed and extended postures. The stiffness of the relaxed finger was compared with the stiffness when voluntary force was exerted in different directions. The finger stiffness was found to be anisotropic, with the direction of greatest stiffness being approximately parallel to the proximal phalange of the finger. This direction was relatively unaffected by finger posture or direction of finger force. Finger stiffness was more anisotropic when the interphalangeal joints were extended than flexed. The stiffness was most anisotropic when the interphalangeal joints were extended and force was being exerted in the direction of pointing, while it was least anisotropic when the interphalangeal joints were flexed and force was being exerted in directions normally associated with pinching and tapping actions. The stiffness of the individual finger joints was computed and the relation between stiffness and joint torque was examined. Previous studies, which examined single finger joints in isolation, had found that joint stiffness varied in a linear fashion with net joint torque. In contrast, we did not find a monotonic relation between joint stiffness and net joint torque, which we attributed to the need to vary the amount of cocontraction of antagonistic muscles when controlling the direction of finger force.

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confidence: 99%

Characterization of multijoint finger stiffness: dependence on finger posture and force direction

Milner

Franklin

1998

IEEE Trans. Biomed. Eng.

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“…Their analysis showed that unmatched finger stiffness and applied contact forces may destabilize the grip. Interestingly, some stiffness models in robotic grasping appear to effectively model human grasping behavior as well [12].…”

Section: B Grasp Stiffness and Interaction Controlmentioning

confidence: 99%

Port-Hamiltonian analysis of a novel robotic finger concept for minimal actuation variable impedance grasping

Wassink

Carloni

2010

2010 IEEE International Conference on Robotics and Automation

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Abstract-This paper introduces a novel robotic finger concept for variable impedance grasping in unstructured tasks. A brief literature survey reveals the need for minimal component designs and the benefits of impedance control schemes for interaction tasks such as grasping. The novel robotic finger concept supports these insights by combining three key features: minimal actuation, variable mechanical compliance and full manipulability. This combination of features allows for a minimal component design, while reducing control complexity and still providing required dexterity and grasping capabilities.The conceptual properties (such as variable compliance) are studied in a port-Hamiltonian framework. The framework proved to be suitable in analyzing and understanding the finger properties, which will be used for future controller design.

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“…Shimoga [24] summarized the conventional grasp synthesis algorithms for robot hands. Also, Kao et al [25] tried to apply stiffness models usually employed in robotics research to the analysis of human grasping behaviors. In addition, grasp planning and control algorithms for multifingered robot hands have been proposed [49]- [51].…”

Section: Introductionmentioning

confidence: 99%

Independent finger and independent joint-based compliance control of multifingered robot hands

Kim

Suh

2003

IEEE Trans. Robot. Automat.

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Abstract-In this paper, a modified two-step compliance control method for robot hands is proposed: resolved interfinger decoupling solver (RIFDS) and resolved interjoint decoupling solver (RIJDS). For this, we first investigate how many fingers are necessary to successfully implement stiffness characteristics in the operational space. RIFDS is then proposed to decompose the desired compliance characteristic specified in the operational space into the compliance characteristic in the fingertip space without interfinger coupling, and RIJDS is also proposed to decompose the compliance characteristic in the fingertip space without interjoint coupling. It is found in the process of RIFDS that some nondiagonal stiffness elements specified in the operational space cannot be planned arbitrarily, due to grasping geometry. Similar to independent finger control, RIJDS aims at independent joint control. This scheme facilitates the joint servo control. To show the effectiveness of the proposed compliance control method, some experimental results are illustrated for a compliant task by using two-and three-fingered hands, which consist of five-bar finger mechanisms. It is concluded that grasping geometry and finger structure are crucial to successfully performing multifingered hands operations.

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Robotic stiffness control and calibration as applied to human grasping tasks

Cited by 70 publications

References 21 publications

Characterization of multijoint finger stiffness: dependence on finger posture and force direction

Characterization of multijoint finger stiffness: dependence on finger posture and force direction

Port-Hamiltonian analysis of a novel robotic finger concept for minimal actuation variable impedance grasping

Independent finger and independent joint-based compliance control of multifingered robot hands

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