Analysis of Grasping and Slip Detection of the Human Hand

摘要

In this paper, we present a novel strategy to detect the slipping of an object grasped by a human hand. The recognition of slipping of a grasped object early plays a significant role in designing the dexterous robotic hands to ensure a firm grasping. Here, we present a system that uses force sensors embedded in a tight glove to capture force variations during a slipping of a grasped object. The analysis of contribution by five fingers and the palm for grasping is presented based on new factor called contribution factor. Also, we propose a new direction to incorporate controlling of dexterous robot hands based on spatial activity of force exerted by hand to ensure a firm grasping.