Simulating human fingers: A soft finger proxy model and algorithm

Proceedings - 12th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, HAPTICS

Volumn , Issue , 2004, Pages 9-17

  Barbagli, Federico ^a,c   Frisoli, Antonio ^b   Salisbury, Kenneth ^a   Bergamasco, Massimo ^b  

^a STANFORD UNIVERSITY   (United States)

^b SCUOLA SUPERIORE SANT ANNA   (Italy)

^c UNIVERSITY OF SIENA   (Italy)

Author keywords

[No Author keywords available]

Indexed keywords

COMPUTATIONAL EFFICIENCY; HUMAN FINGERTIPS; TORSIONAL FRICTION LIMITS; VIRTUAL OBJECTS;

ALGORITHMS; BIOMECHANICS; COMPUTER SIMULATION; FRICTION; KINEMATICS; MATHEMATICAL MODELS; PRESSURE DISTRIBUTION; ROBOTICS; ROTATION; TORQUE;

COMPUTER GRAPHICS;

EID: 2942652844     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/HAPTIC.2004.1287172     Document Type: Conference Paper

References (22)

1. C. Avizzano, T. Gutierrez, S. Casado, B. Gallagher, M. Magennis, J. Wood, K. Gladstone, H. Graupp, J. A. Munoz, E. F. C. Arias, and F. Slevin. Grab: Computer graphics access for blind people through a haptic and audio virtual environment. In Proceedings of Eurohaptics 2003, July 2003.
2. F. Barbagli, R. DeVengenzo, and K. Salisbury. Dual-handed virtual grasping. In submitted to the 2003 IEEE International Conference on Robotics and Automation, ICRA 2003, volume 1, pages 1259-1263, Taipei, Taiwan, 2003.
3. D. Brock. Enhancing the dexterity of a robot hand using controlled slip. In Proceedings of the IEEE International Conference on Robotics and Automation, volume 1, pages 249-251, 1988.
4. P. Dupont, V. Hayward, B. Armstrong, and F. Altpeter. Single state elasto-plastic friction models. IEEE Transactions on Automatic Control, 47(5):787-792, 2002.
5. A. W. Goodwin, P. Jenmalm, and R. S. Johansson. Control of grip force when tilting objects: Effect of curvature of grasped surfaces and applied tangential torque. J. Neuroscience, 18(24):10724-10734, 1998.
6. A. E. Green and J. E. Adkins. Large elastic deformatoins. Oxford at Clarendon Press, 1960.
7. H. C. Guler, N. Berme, and S. R. Simon. A viscoelastic sphere model for the representation of plantar soft tissue during simulation. Journal of Biomechanics, 31:847-53, 1998.
8. H. Hertz. On the contact of elastic solids. J. Reine und angewandte Mathematik, 92:156-171, 1882. (for english translation see Miscellaneous Papers by H. Hertz, Eds Jones and Schott, London: Macmillan 1896).
9. R. Howe, I. Kao, and M. Cutkosky. The sliding of robot fingers under combined torsion and shear loading, volume 1, pages 103-105, 1988.
10. R. D. Howe and M. R. Cutkosky. Practical force-motion models for sliding manipulation. International Journal of Robotic Resarch, 15:557-572, 1996.
11. K. Johnson. Contact Mechanics. Cambridge University Press, 1985.
12. H. Kinoshita, L. Backstrom, J. R. Flanagan, and R. S. Johansson. Tangential torque effects on the control of grip forces when holding objects with a precision grip. J. Neurophysiol., (78):1619-1630, 1998.
13. A. Nahvi and J. Hollerbach. Display of friction in virtual environments based on human finger pad characteristics. In Proceedings of ASME Dynamic Systems and Control Division, volume DSC-Vol. 64, pages 179-184, November 1998.
14. D. Pawluk and R. Howe. Dynamic contact of the human fingerpad against a flat surface. Journal of Biomechanical Engineering, 121:605-611, 1999.
15. D. Pawluk and R. Howe. Dynamic lumped element response of the human fingerpad. Journal of Biomechanical Engineering, 121:178-183, 1999.
16. D. C. Ruspini, K. Kolarov, and O. Khatib. The haptic display of complex graphical environments. In Computer Graphics (SIGGRAPH 97 Conference Proceedings), pages 345-352. ACM SIGGRAPH, 1997.
17. K. Salisbury and Mason. Robot Hands and the Mechanics of Manipulation. MIT press, 1985.
18. E. Serina, C. Mote, and D. Rempel. Force response of the fingertip pulp to repeated compression: Effects of loading rate, loading angle, antropometry. Journal of Biomechanics, 30:1035-1040, 1997.
19. E. Serina, E. Mockensturm, C. Mote, and D. Rempel. A structural model of the forced compression of the fingertip pulp. Journal of Biomechanics, 31:639-646, 1998.
20. M. Srinivasan and K. Dandekar. An investigation of the mechanics of tactile sense using two dimensional models of the primate fingertip. Journal of Biomechanical Engineering, 118:48-55, 1996.
21. G. Westling and R. S. Johansson. Factors influencing the force control during precision grip. Experimental Brain Research, (53):277-284, 1998.
22. C. Zilles and J. Salisbury. A constraintbased god-object method for haptic display. In Proc. IEE/RSJ International Conference on Intelligent Robots and Systems, Human Robot Interaction, and Cooperative Robots, volume 3, pages 146-151, 1995.