Analytical Inverse Optimization in Two-Hand Prehensile Tasks
نویسندگان
چکیده
منابع مشابه
Analytical Inverse Optimization in Two-Hand Prehensile Tasks.
The authors explored application of analytical inverse optimization (ANIO) method to the normal finger forces in unimanual and bimanual prehensile tasks with discrete and continuously changing constraints. The subjects held an instrumented handle vertically with one or two hands. The external torque and grip force changed across trials or within a trial continuously. Principal component analysi...
متن کاملStable Prehensile Pushing: In-Hand Manipulation with Alternating Sticking Contacts
This paper presents an approach to in-hand manipulation planning that exploits the mechanics of alternating sticking contact. Particularly, we consider the problem of manipulating a grasped object using external pushes for which the pusher sticks to the object. Given the physical properties of the object, frictional coefficients at contacts and a desired regrasp on the object, we propose a samp...
متن کاملA Study on Optimality Criteria for Two-hand Reaching Tasks
Investigations of one hand reaching tasks suggest that humans use some optimal criterion to select the trajectory for the motion. In this paper, the minimum jerk model that was proposed to account for single-hand reaching tasks is extended to the two-arm case. A set of experiments was performed to verify the model. The repeatability of the experimental results was investigated. The data shows t...
متن کاملA force control based strategy for extrinsic in-hand object manipulation through prehensile- pushing primitives
Object manipulation is a complex task for robots. It often implies a compromise between the degrees-of-freedom of hand and its fingers have (dexterity) and its cost and complexity in terms of control. One strategy to increase the dexterity of robotic hands with low dexterity is called extrinsic manipulation and its principle is to exploit additional accelerations on the object caused by the eff...
متن کاملHand/Mouth Cooperation in Pointing-Naming Tasks
Marion Dohen, Amélie Rochet-Capellan, Coriandre Vilain, Benjamin Roustan, Rafael Laboissière & Jean-Luc Schwartz Speech & Cognition Department, GIPSA-lab, France 2 Motor Control Lab, McGill University, Canada 3 INSERM, U864, Espace et Action, France 4 Max Planck Institute for Human Cognitive and Brain Sciences, Germany [email protected]; [email protected]; coriandre.vilain@gi...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of Motor Behavior
سال: 2016
ISSN: 0022-2895,1940-1027
DOI: 10.1080/00222895.2015.1123140