Reflective grasp force control of humans induced by distributed vibration stimuli on finger skin with ICPF actuators

Nakamoto Masataka, Takashi Maeno, Masashi Konyo, Satoshi Tadokoro

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

8 Citations (Scopus)

Abstract

A method is proposed to control human grasping force unconsciously by generating small distributed vibration stimuli on a finger based on a human reflex action against detection of partial slippage of contact. Human beings can increase grasping force before the grasped object slips off the fingers based on afferent signals from tactile receptors that detect the expansion of the partial slippage area. We assumed that vibration stimuli that have an appropriate frequency and distribution generate a virtual sensation of partial slippages and induce a reflective grasping force increase. Grasping experiments with minute distributed vibration stimuli using ICPF (Ionic Conducting Polymer gel Film) actuators were performed. Experiments results showed that the effective vibratory frequency was 30 Hz, which is the most sensitive range for Meissner's corpuscles that are closely related to detection of partial slippage. We also found that distribution of vibration stimuli were important to produce human grasping force increase.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages3899-3904
Number of pages6
Volume2006
DOIs
Publication statusPublished - 2006
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 2006 May 152006 May 19

Other

Other2006 IEEE International Conference on Robotics and Automation, ICRA 2006
CountryUnited States
CityOrlando, FL
Period06/5/1506/5/19

Fingerprint

Force control
Conducting polymers
Skin
Actuators
Gels
Experiments

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering

Cite this

Masataka, N., Maeno, T., Konyo, M., & Tadokoro, S. (2006). Reflective grasp force control of humans induced by distributed vibration stimuli on finger skin with ICPF actuators. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 2006, pp. 3899-3904). [1642299] https://doi.org/10.1109/ROBOT.2006.1642299

Reflective grasp force control of humans induced by distributed vibration stimuli on finger skin with ICPF actuators. / Masataka, Nakamoto; Maeno, Takashi; Konyo, Masashi; Tadokoro, Satoshi.

Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006 2006. p. 3899-3904 1642299.

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

Masataka, N, Maeno, T, Konyo, M & Tadokoro, S 2006, Reflective grasp force control of humans induced by distributed vibration stimuli on finger skin with ICPF actuators. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 2006, 1642299, pp. 3899-3904, 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, Orlando, FL, United States, 06/5/15. https://doi.org/10.1109/ROBOT.2006.1642299
Masataka N, Maeno T, Konyo M, Tadokoro S. Reflective grasp force control of humans induced by distributed vibration stimuli on finger skin with ICPF actuators. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006. 2006. p. 3899-3904. 1642299 https://doi.org/10.1109/ROBOT.2006.1642299
Masataka, Nakamoto ; Maeno, Takashi ; Konyo, Masashi ; Tadokoro, Satoshi. / Reflective grasp force control of humans induced by distributed vibration stimuli on finger skin with ICPF actuators. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 2006 2006. pp. 3899-3904
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