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A soft-contact model for computing safety margins in human prehension
Tarkeshwar Singh1, Satyajit Ambike2
1College of Health Professionals, Medical University of South Carolina, Charleston, SC 29425, United States.
Human Movement Science
|April 11, 2017
Summary
Human grasp stability relies on more than just force; moments applied by soft fingertips are crucial. A new soft-contact model provides a more accurate measure of grasp planning, considering surface properties and skin.
Area of Science:
- Biomechanics
- Human sensorimotor control
- Robotics
Background:
- Precision grasping stability is vital for human manipulation.
- Current models often assume hard contact, neglecting moments applied by fingertips.
- Existing research focuses on friction coefficients and normal force for grasp planning.
Purpose of the Study:
- To investigate the role of moments in grasp stability.
- To define and quantify a safety margin using a soft-contact model.
- To compare the efficacy of soft-contact versus hard-contact models in grasp planning.
Main Methods:
- Adaptation of a soft-contact model from robotics.
- Quantification of safety margin incorporating forces and moments.
- Comparison of safety margin indices derived from soft and hard contact models.
Main Results:
- The soft-contact model allows for the application of both forces and moments.
- A soft-contact based safety margin is a more accurate and robust index of grasp planning.
- This model offers insights into accounting for surface and tissue properties.
Conclusions:
- Moments generated by soft digit tips significantly contribute to grasp stability.
- A soft-contact model provides a more comprehensive understanding of grasp planning.
- Future research can explore how humans utilize surface and tissue properties in grasping.