Robotic object grasping in context of human grasping and manipulation

摘要

This paper presents experimental and deductive findings that shed new light on grasp force estimation, which improves robot's chances to grasp and manipulate the object close to optimum conditions on the first attempt, which in turn improves robot's object manipulation dexterity. This paper proposes that object slippage detection in the human hand is not detected based purely on micro-vibrations sensed by the human skin during incipient slippage but also on load sensing at each finger and movement of fingers relative to each other while holding an object.