Displaying Partial Slippage for Virtual Grasping

Masayuki Mori; Takashi Maeno; Yoji Yamada

doi:10.20965/jrm.2005.p0277

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JRM Vol.17 No.3 pp. 277-284

doi: 10.20965/jrm.2005.p0277

(2005)

Paper:

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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

Received:

October 18, 2004

Accepted:

February 28, 2005

Published:

June 20, 2005

Keywords:

tactile display, stimuli in tangential direction, finite element method

Abstract

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.

Cite this article as:

M. Mori, T. Maeno, and Y. Yamada, “Displaying Partial Slippage for Virtual Grasping,” J. Robot. Mechatron., Vol.17 No.3, pp. 277-284, 2005.

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References

[1] 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.
[2] 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.
[3] 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.
[4] 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.
[5] 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.
[6] 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.
[7] 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.
[8] 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.
[9] 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.
[10] 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.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] 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.

[2] [2] 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.

[3] [3] 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.

[4] [4] 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.

[5] [5] 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.

[6] [6] 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.

[7] [7] 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.

[8] [8] 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.

[9] [9] 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.

[10] [10] 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.

Displaying Partial Slippage for Virtual Grasping

Masayuki Mori*, Takashi Maeno*, and Yoji Yamada**

Masayuki Mori^, Takashi Maeno^, and Yoji Yamada^**