Enhancing the Dexterity of a Robot Hand Using Controlled Slip
Abstract
Humans can effortlessly manipulate objects in their hands, dexterously sliding and twisting them with their grasp. Robots, however, have none of these capabilities, they simply gasp objects rigidly in their end effectors. To investigate this common form of human manipulation, an analysis of controlled slipping of a grasped object within a robot hand was performed. The Salisbury robot hand demonstrated many of these controlled slipping techniques, illustrating many results of this analysis. First, the possible slipping motions were found as a function of the location, orientation, and types of contact between the hand and the object. Second, for a given grasp, the contact types were determined as a function of the grasping force and the external forces on the object. Finally, by changing the grasping force and the external forces on the object. Finally, by changing the grasping force, the robot modified the constraints on the object and affect controlled slipping motions. Keywords: Dexterity; Constraint; Screws; Wrenches; Fingertip sensors.
Document Details
- Document Type
- Technical Report
- Publication Date
- May 01, 1987
- Accession Number
- ADA209363
Entities
People
- David L. Brock
Organizations
- Massachusetts Institute of Technology