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 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages3899-3904
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 27
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 2006 May 152006 May 19

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2006
ISSN (Print)1050-4729

Other

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

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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    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 2006 IEEE International Conference on Robotics and Automation, ICRA 2006 (pp. 3899-3904). [1642299] (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2006). https://doi.org/10.1109/ROBOT.2006.1642299