Name
Abstract | ||
|---|---|---|
Grasping is one of the most common forms of dexterity. So far, most research has focused on slow-varying loads which can be resisted by anticipatory grip adjustments. There are common cases, however, when a rapid, unexpected increase in the load occurs and where the central nervous system must re-adjust the grip dynamically to prevent slippage. During such events, the central nervous system reactively updates the grip force to minimize further escape of an object. While existing theories postulates that the shear strain of the finger pads caused by the load force is a primary source of information for detecting a new load condition, vibrations induced by even minute object slip in the hand might more effectively signal the occurrence of unwanted movement of the object relatively to the hand. With the help of a high-sensitivity force sensor interposed in the load-path of a fast traction-creating device, we recorded the fluctuations of the force projected onto the fingertip when a rapid perturbation was applied to a grasped object. These fluctuations are indicative of slip. The results highlight the existence of a correlation between the amplitude of the vibrations and the grip force modulation, when textural features are present. The study provides promising evidence that the central nervous system exploits vibrations to detect the onset of unwanted movement of an object relatively to the hand to optimally scale the grip force in response to unexpected, rapid load variations. |
Year | DOI | Venue |
|---|---|---|
2013 | 10.1109/WHC.2013.6548481 | World Haptics Conference |
Keywords | Field | DocType |
dexterous manipulators,force control,force feedback,force sensors,grippers,manipulator dynamics,shear strength,slip,vibrations,central nervous system,dexterity,dynamic grip readjustment,fast traction-creating device,finger pads,force fluctuations,grip adjustments,grip force,grip force modulation,grip reflex,high-sensitivity force sensor,load force,object grasping,rapid load variations,rapid perturbation,shear strain,slip-induced vibration influence,slippage prevention,slow-varying loads,textural features,unwanted movement onset detection,H.1.2 [Information Systems]: User/Machine Systems-Human information processing,H.5.2 [Information Interfaces and Presentation]: User Interface-Haptic I/O,I.3. 7 | Shear strength,Computer science,Control theory,Shear stress,Slip (materials science),Reflex,Control engineering,Slippage,Vibration,Grippers,Haptic technology | Conference |
ISBN | Citations | PageRank |
978-1-4799-0087-9 | 5 | 0.67 |
References | Authors | |
4 | 4 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Michaël Wiertlewski | 1 | 98 | 11.99 |
| Satoshi Endo | 2 | 5 | 0.67 |
| Alan M. Wing | 3 | 27 | 6.37 |
| Vincent Hayward | 4 | 1343 | 172.28 |