Work

Functional analysis of finger contact locations during grasping

Year: 2009

Type: conference-paper

Abstract: In this paper we present a method for studying human selection of fingertip contact point locations during grasping and manipulation. Our aim is to perform a functional analysis, looking at how a particular choice of contact point distribution affects the subjects' ability to resist external forces applied to the grasped object. We rely on grasp quality metrics derived from the Grasp Wrench Space, a method traditionally used for quantifying robotic grasps. We illustrate this approach by studying human grasps of a spherical object under a number of different disturbances. Our results indicate that the quality metrics we use can help explain the subjects' choice of contact points, although other possible grasping strategies may exist.

Source: IEEE World Haptics Conference (WHC)

DOI: 10.1109/whc.2009.4810864

Authors: Matei Ciocarlie, Hao Dang, Jamie Lukos, Marco Santello, Peter Allen

Institutions: Columbia University, Arizona State University

Language: English

Topic: Robot Manipulation and Learning

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: green

Funders: National Science Foundation, National Institutes of Health

Award: Collaborative Research: Dextrous Control of Multi-Digit Grasping