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Robotic object grasping in context of human grasping and manipulation

Dzitac, Pavel and Mazid, Abdul Md 2013, Robotic object grasping in context of human grasping and manipulation, in Proceedings of the IEEE Robotics, Automation and Mechatronics International Conference; RAM 2013, IEEE, Piscataway, NJ, pp. 201-206.

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Title Robotic object grasping in context of human grasping and manipulation
Author(s) Dzitac, Pavel
Mazid, Abdul Md
Conference name IEEE Robotics, Automation and Mechatronics International Conference (6th : 2013 : Manila, Philippines)
Conference location Manila, Philippines
Conference dates 12 - 15 Nov. 2013
Title of proceedings Proceedings of the IEEE Robotics, Automation and Mechatronics International Conference; RAM 2013
Editor(s) [Unknown]
Publication date 2013
Conference series IEEE Robotics, Automation and Mechatronics International Conference
Start page 201
End page 206
Total pages 6
Publisher IEEE
Place of publication Piscataway, NJ
Keyword(s) Robotics
Slippage
Robotic grasping
Grasp force
Human grasping
Summary This paper presents experimental and deductive findings that shed new light on grasp force estimation, which improves robot’s chances to grasp and manipulate the object close to optimum conditions on the first attempt, which in turn improves robot’s object manipulation dexterity.
This paper proposes that object slippage detection in the human hand is not detected based purely on microvibrations sensed by the human skin during incipient slippage but also on load sensing at each finger and movement of fingers relative to each other while holding an object.
ISBN 9781479912018
Language eng
Field of Research 091007 Manufacturing Robotics and Mechatronics (excl Automotive Mechatronics)
090602 Control Systems, Robotics and Automation
Socio Economic Objective 970110 Expanding Knowledge in Technology
HERDC Research category E1.1 Full written paper - refereed
Copyright notice ©2013, IEEE
Persistent URL http://hdl.handle.net/10536/DRO/DU:30058532

Document type: Conference Paper
Collection: School of Engineering
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Created: Wed, 27 Nov 2013, 10:05:18 EST

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