Estimating contact forces from postural measures in a class of under-actuated robotic hands

Cosimo Della Santina, Cristina Piazza, Gaspare Santaera, Giorgio Grioli, Manuel Catalano, Antonio Bicchi

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

9 Scopus citations

Abstract

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.

Original languageEnglish
Title of host publicationIROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2456-2463
Number of pages8
ISBN (Electronic)9781538626825
DOIs
StatePublished - 13 Dec 2017
Externally publishedYes
Event2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017 - Vancouver, Canada
Duration: 24 Sep 201728 Sep 2017

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2017-September
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Country/TerritoryCanada
CityVancouver
Period24/09/1728/09/17

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