TY - GEN
T1 - Estimating contact forces from postural measures in a class of under-actuated robotic hands
AU - Della Santina, Cosimo
AU - Piazza, Cristina
AU - Santaera, Gaspare
AU - Grioli, Giorgio
AU - Catalano, Manuel
AU - Bicchi, Antonio
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - Sensing contact forces can be a key enabler for higher order dexterous manipulation in robotic hands. To sense the full range of contact pressure distribution would provide the best solution, but it is in practice unfeasible when considering very deformable and adaptable hands. This paper proposes an approach to estimate the contact forces acting on an under-actuated adaptable hand by combining the compliance model of the hand with the geometric configuration of the hand itself. This is done by introducing reasonable assumptions about the net contact force on each phalanx. The proposed method is introduced and experimentally validated on two fingers of the Pisa/IIT SoftHand.
AB - Sensing contact forces can be a key enabler for higher order dexterous manipulation in robotic hands. To sense the full range of contact pressure distribution would provide the best solution, but it is in practice unfeasible when considering very deformable and adaptable hands. This paper proposes an approach to estimate the contact forces acting on an under-actuated adaptable hand by combining the compliance model of the hand with the geometric configuration of the hand itself. This is done by introducing reasonable assumptions about the net contact force on each phalanx. The proposed method is introduced and experimentally validated on two fingers of the Pisa/IIT SoftHand.
UR - http://www.scopus.com/inward/record.url?scp=85041963757&partnerID=8YFLogxK
U2 - 10.1109/IROS.2017.8206062
DO - 10.1109/IROS.2017.8206062
M3 - Conference contribution
AN - SCOPUS:85041963757
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 2456
EP - 2463
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Y2 - 24 September 2017 through 28 September 2017
ER -