Analysis of grasping and slip detection of the human hand Conference

Edussooriya, CUS, Hapuachchi, HSS, Rajiv, D et al. (2008). Analysis of grasping and slip detection of the human hand . 261-266. 10.1109/ICIAFS.2008.4783973

cited authors

  • Edussooriya, CUS; Hapuachchi, HSS; Rajiv, D; Ranasinghe, RAH; Munasinghe, SR

authors

abstract

  • In this paper, we present a novel strategy to detect the slipping of an object grasped by a human hand. The recognition of slipping of a grasped object early plays a significant role in designing the dexterous robotic hands to ensure a firm grasping. Here, we present a system that uses force sensors embedded in a tight glove to capture force variations during a slipping of a grasped object. The analysis of contribution by five fingers and the palm for grasping is presented based on new factor called contribution factor. Also, we propose a new direction to incorporate controlling of dexterous robot hands based on spatial activity of force exerted by hand to ensure a firm grasping. © 2008 IEEE.

publication date

  • December 1, 2008

Digital Object Identifier (DOI)

International Standard Book Number (ISBN) 13

start page

  • 261

end page

  • 266