Method for displaying partial slip used for virtual grasp

Masayuki Mori, Takashi Maeno, Yoji Yamada

研究成果: Article査読

抄録

A method is presented to display partial slip in precision grip of humans. Partial slip is important information for precision grip of humans, because the human controls grasping force by detecting expansion of the partial slip area. Therefore, a device that displays partial slip will make it easier for remote controlled mechanical hands to grasp objects, irrespective of the friction coefficient between the mechanical hand and object. To design the device displaying partial slip, we analyzed the deformation of a finger when in contact with a rigid plate using a finite element model. We also analyzed the deformation of the finger section model when in contact with the device that displays partial slip. . As a result of the analyses, it is confirmed that there is a possibility in displaying partial slip using a tactile displaying device, which simulates the finger with three stimulating parts. We also confirm the effectiveness of the method to stimulate the finger with three stimulating parts.

本文言語English
ページ(範囲)1582-1589
ページ数8
ジャーナルNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
72
5
DOI
出版ステータスPublished - 2006

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering

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