Displaying Partial Slippage for Virtual Grasping
Masayuki Mori*, Takashi Maeno*, and Yoji Yamada**
*Keio University, 3-14-1 Hiyoshi, Kohoku-ku, Yokohama 223-8522, Japan
**AIST, 1-2-1 Tsukuba East, Namiki, Tsukuba 305-8564, Japan
We display partial slippage in human precision gripping. Partial slippage provides important information for gripping because we control grasping by detecting expansion in partial slippage. Displaying partial slippage makes it easier for remote controlled mechanical hands to grasp objects, regardless of the friction coefficient between the mechanical hand and object. To display partial slippage, we analyzed finger deformation in contact with a rigid plate using a finite element model. We analyzed finger model deformation in contact with the display of partial slippage. Analysis confirmed the possibility of displaying partial slippage using a tactile display that stimulates the finger at three points. Finally, we confirm the model’s effectiveness.
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