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Computation of minimum contact forces of multifingered robot hand with soft fingertips

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Abstract

In the human hand, the softness of a fingertip plays a significant role on stable gras** and dexterous manipulation. This paper presents a method of computing minimum grasp forces of a multi-fingered hand with soft fingertips. In the first, we built up a simple linear contact model of a soft fingertip. Then, based on Pontryagin’s principle, the problem of minimizing contact forces for realizing the stable gras** was formulated and the forces were computed. Finally, the experiments were carried out using a multifingered robot hand, called “Allegro Hand” with hard fingertips and soft ones, and the effectiveness of the proposed method was validated.

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Acknowledgments

This research was supported by the convergence technology development program for bionic arm through the National Research Foundation of Korea (NRF) funded by the Ministry of Science, ICT & Future Planning (No. 2014M3C1B2048175). The first author was financially supported by the State Scholarship Fund, organized by the China Scholarship Council (CSC).

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Authors and Affiliations

  1. School of Mechanical Engineering, Sungkyunkwan University, ChunchunDong 300, Jangan-gu, Suwon, Kyungki-do, 440-746, Korea

    Fengyi Liu, Yong Bum Kim, Gun Kyu Yee, Won Suk You, Gi Tae Kang, An Na Kim, Young Hun Lee, Hyungpil Moon, Ja Choon Koo & Hyouk Ryeol Choi

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  1. Fengyi Liu
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  2. Yong Bum Kim
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  3. Gun Kyu Yee
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Correspondence to Hyouk Ryeol Choi.

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Liu, F., Kim, Y.B., Yee, G.K. et al. Computation of minimum contact forces of multifingered robot hand with soft fingertips. Intel Serv Robotics 8, 225–232 (2015). https://doi.org/10.1007/s11370-015-0178-x

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  • DOI: https://doi.org/10.1007/s11370-015-0178-x

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