Calculation of grasping force to adapt mass variation of object considering human motion

Ryutaro Honjo, Seiichiro Katsura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper proposes a way to calculate a grasping force that could adapt to a variation of mass of a grasping object. In order to grasp an object, resultant force vector consisted of grasping force and friction force has to be within a friction cone. In conventional method to grasp an object, mass of a grasping object or acceleration caused by transportation have to be measured in order to calculate an optimal grasping force. However, it is difficult to measure these parameters quickly; therefore grasping an unknown object is difficult. The proposed method is a data-driven approach using bilateral control. While human grasps an object, the condition that a resultant force vector is within the friction cone, then the direction of the resultant force vector in the stored human motion are reproduced so as to control grasping force. By using the proposed method, it is able to grasp an object without any need to measure the mass of the object. Experiments are conducted in order to show the validity of the proposed method.

Original languageEnglish
Title of host publicationIECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4923-4928
Number of pages6
ISBN (Electronic)9781479917624
DOIs
Publication statusPublished - 2016 Jan 25
Event41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015 - Yokohama, Japan
Duration: 2015 Nov 92015 Nov 12

Other

Other41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015
CountryJapan
CityYokohama
Period15/11/915/11/12

Fingerprint

Friction
Cones
Force control
Experiments

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Industrial and Manufacturing Engineering

Cite this

Honjo, R., & Katsura, S. (2016). Calculation of grasping force to adapt mass variation of object considering human motion. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society (pp. 4923-4928). [7392872] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IECON.2015.7392872

Calculation of grasping force to adapt mass variation of object considering human motion. / Honjo, Ryutaro; Katsura, Seiichiro.

IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. p. 4923-4928 7392872.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Honjo, R & Katsura, S 2016, Calculation of grasping force to adapt mass variation of object considering human motion. in IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society., 7392872, Institute of Electrical and Electronics Engineers Inc., pp. 4923-4928, 41st Annual Conference of the IEEE Industrial Electronics Society, IECON 2015, Yokohama, Japan, 15/11/9. https://doi.org/10.1109/IECON.2015.7392872
Honjo R, Katsura S. Calculation of grasping force to adapt mass variation of object considering human motion. In IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc. 2016. p. 4923-4928. 7392872 https://doi.org/10.1109/IECON.2015.7392872
Honjo, Ryutaro ; Katsura, Seiichiro. / Calculation of grasping force to adapt mass variation of object considering human motion. IECON 2015 - 41st Annual Conference of the IEEE Industrial Electronics Society. Institute of Electrical and Electronics Engineers Inc., 2016. pp. 4923-4928
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