Enhancing the Dexterity of a Robot Hand Using Controlled Slip
Humans can effortlessly manipulate objects in their hands, dexterously sliding and twisting them within their grasp. Robots, however, have none of these capabilities, they simply grasp objects rigidly in their end effectors. To investigate this common form of human manipulation, an analysis of...
| Main Author: | |
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/6960 |
| _version_ | 1826197789918363648 |
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| author | Brock, David L. |
| author_facet | Brock, David L. |
| author_sort | Brock, David L. |
| collection | MIT |
| description | Humans can effortlessly manipulate objects in their hands, dexterously sliding and twisting them within their grasp. Robots, however, have none of these capabilities, they simply grasp objects rigidly in their end effectors. To investigate this common form of human manipulation, an analysis of controlled slipping of a grasped object within a robot hand was performed. The Salisbury robot hand demonstrated many of these controlled slipping techniques, illustrating many results of this analysis. First, the possible slipping motions were found as a function of the location, orientation, and types of contact between the hand and object. Second, for a given grasp, the contact types were determined as a function of the grasping force and the external forces on the object. Finally, by changing the grasping force, the robot modified the constraints on the object and affect controlled slipping slipping motions. |
| first_indexed | 2024-09-23T10:53:11Z |
| id | mit-1721.1/6960 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T10:53:11Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/69602019-04-10T14:26:02Z Enhancing the Dexterity of a Robot Hand Using Controlled Slip Brock, David L. Humans can effortlessly manipulate objects in their hands, dexterously sliding and twisting them within their grasp. Robots, however, have none of these capabilities, they simply grasp objects rigidly in their end effectors. To investigate this common form of human manipulation, an analysis of controlled slipping of a grasped object within a robot hand was performed. The Salisbury robot hand demonstrated many of these controlled slipping techniques, illustrating many results of this analysis. First, the possible slipping motions were found as a function of the location, orientation, and types of contact between the hand and object. Second, for a given grasp, the contact types were determined as a function of the grasping force and the external forces on the object. Finally, by changing the grasping force, the robot modified the constraints on the object and affect controlled slipping slipping motions. 2004-10-20T20:10:47Z 2004-10-20T20:10:47Z 1987-05-01 AITR-992 http://hdl.handle.net/1721.1/6960 en_US AITR-992 21122278 bytes 7785329 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Brock, David L. Enhancing the Dexterity of a Robot Hand Using Controlled Slip |
| title | Enhancing the Dexterity of a Robot Hand Using Controlled Slip |
| title_full | Enhancing the Dexterity of a Robot Hand Using Controlled Slip |
| title_fullStr | Enhancing the Dexterity of a Robot Hand Using Controlled Slip |
| title_full_unstemmed | Enhancing the Dexterity of a Robot Hand Using Controlled Slip |
| title_short | Enhancing the Dexterity of a Robot Hand Using Controlled Slip |
| title_sort | enhancing the dexterity of a robot hand using controlled slip |
| url | http://hdl.handle.net/1721.1/6960 |
| work_keys_str_mv | AT brockdavidl enhancingthedexterityofarobothandusingcontrolledslip |