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.
-  R. S. Johansson, and C. Hager-Ross, “Somatosensory control of precision grip during unpredictable pulling loads. III. Impairments during digital anethesia,” Exp. Brain Res., Vol.89, pp. 181-191, 1992.
-  M. Tada, T. Shibata, and T. Ogasawara, “Proposition and Investigation of the Grip Force Control Hypothesis based on the Stick Ratio of a Fingertip Contact Interface –Toward Dextrous Manipulations with Humanoid Robots–,” Proceedings of IEEE-RAS International Conference on Humanoid Robots, pp. 149-155, 2001.
-  T. Maeno, S. Hiromitsu, and T. Kawai, “Control of Grasping Force by Detecting Stick/Slip Distribution at the Curved Surface of Elastic Finger,” Proc. IEEE International Conference on Robotics and Automation, pp. 3896-3901, 2000.
-  V. G. Macefield, C. Hager-Ross, and R. S. Johansson, “Control of grip force during restrain of an object held between finger and thumb: responses of cutaneous afferents from the digits,” Exp. Brain Res., Vol.108, pp. 155-171, 1996.
-  N. Asamura, N. Yokoyama, and H. Shinoda, “A method of selective stimulation to epidermal skin receptors for realistic touch feedback,” Proc. IEEE VR’99, pp. 274-281, 1999.
-  T. Nara, M. Takasaki, T. Maeda, T. Higuchi, S. Ando, and S. Tachi, “Surface acoustic wave tactile display,” IEEE Computer Graphics and Applications, Vol.21, No.6, pp. 56-63, 2001.
-  M. Konyo, K. Akazawa, S. Tadokoro, and T. Takamori, “Tactile feel display for virtual active touch,” Proc. IEEE International conference on intelligent robotics and systems, pp. 3744-3750, 2003.
-  H. Kajimoto, N. Kawakami, T. Maeda et al., “Electrocutaneous display with receptor selective stimulations,” electronics and communications in Japan Part II-Electronics, Vol.85, No.6, pp. 40-49, 2002.
-  T. Ishii, N. Hida, A. Yamamoto, and T. Higuchi, “Electrostatic tactile display using thin film slider,” The Sixth International Conference on Motion and Vibration Control, pp. 547-552, 2002.
-  T. Maeno, K. Kobayashi, and N. Yamazaki, “Relationship between the Structure of Human Finger Tissue and the Location of Tactile Receptors,” Bulletin of JSME International Journal, Vol.41, No.1, C, pp. 94-100, 1998.
Copyright© 2005 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.