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Motion Analysis of Soft-Fingertip Manipulation Tasks  

Kim, Byoung-Ho (Bio-Mimetic Control Research Center in the Institute of Physical and Chemical Research)
Publication Information
International Journal of Control, Automation, and Systems / v.2, no.2, 2004 , pp. 228-237 More about this Journal
Abstract
This paper provides a motion analysis of soft-fingertip object manipulation tasks by presenting a dynamic model of multi-fingered object manipulations with soft fingertips. It is fundamentally observed that soft fingertips employed in a multi-fingered hand generate some deformation effects during the manipulation process and also that those effects are closely related to the behavior of the manipulated object. In order to analyze the motion of using soft fingertips, a dynamic manipulation control scheme is presented. Simulation and experimental results demonstrate the motion of soft-fingertips applied in object manipulating tasks and are further used to discuss the characteristics of soft-fingertip motions.
Keywords
Deformation effect; motion analysis; object manipulation; soft fingertip;
Citations & Related Records

Times Cited By Web Of Science : 1  (Related Records In Web of Science)
Times Cited By SCOPUS : 1
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