Search for dissertations about: "grasp force"

Showing result 1 - 5 of 12 swedish dissertations containing the words grasp force.

2. 1. To grip and not to slip : sensorimotor mechanisms in reactive control of grasp stability

   Author : Charlotte Häger Ross; Roland S. Johansson; Umeå universitet; []
   Keywords : MEDICIN OCH HÄLSOVETENSKAP; MEDICAL AND HEALTH SCIENCES; human; hand; precision grip; grasp force; friction; cutaneous mechanoreceptors; sensorimotor integration; motor control;

   Abstract : The reactive control of fingertip forces maintaining grasp stability was examined in man during a prehensile task. Blindfolded subjects used the precision grip between the tips of index finger and thumb to restrain an object that was subjected to unpredictable load forces. These were delivered tangential to the parallel grip surfaces of the object. READ MORE

4. 2. Dexterous Grasping : Representation and Optimization

   Author : Kaiyu Hang; Nancy Pollard; KTH; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Dexterous Grasping; Hierarchical Fingertip Space; Grasp Planning; Grasp Adaptation; Computer Science; Datalogi;

   Abstract : Many robot object interactions require that an object is firmly held, and that the grasp remains stable during the whole manipulation process. Based on grasp wrench space, this thesis address the problems of measuring the grasp sensitivity against friction changes, planning contacts and hand configurations on mesh and point cloud representations of arbitrary objects, planning adaptable grasps and finger gaiting for keeping a grasp stable under various external disturbances, as well as learning of grasping manifolds for more accurate reachability and inverse kinematics computation for multifingered grasping. READ MORE

5. 3. Tactile Sensory Control of Dexterous Manipulation in Humans

   Author : Ingvars Birznieks; Umeå universitet; []
   Keywords : MEDICIN OCH HÄLSOVETENSKAP; MEDICAL AND HEALTH SCIENCES; Physiology; cutaneous sensibility; tactile afferents; fingertip force; grasp stability; human hand; manipulation; object shape; precision grip; sensorimotor control; coding; Fysiologi; Physiology; Fysiologi; fysiologi; Physiology;

   Abstract : During dexterous manipulation with the fingertips, forces are applied to objects' surfaces. To achieve grasp stability, these forces must be appropriate given the properties of the objects and the skin of the fingertips, and the nature of the task. READ MORE

6. 4. Force-based control for human-robot cooperative object manipulation

   Author : Ramin Jaberzadeh Ansari; Chalmers tekniska högskola; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; kinesthetic perception; physical human-robot collaboration; system identification; human-robot interaction control;

   Abstract : In Physical Human-Robot Interaction (PHRI), humans and robots share the workspace and physically interact and collaborate to perform a common task. However, robots do not have human levels of intelligence or the capacity to adapt in performing collaborative tasks. READ MORE

7. 5. Force-based Perception and Control Strategies for Human-Robot Shared Object Manipulation

   Author : Ramin Jaberzadeh Ansari; Chalmers tekniska högskola; []
   Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; system identification; kinesthetic perception; human-robot interaction control; physical human-robot collaboration;

   Abstract : Physical Human-Robot Interaction (PHRI) is essential for the future integration of robots in human-centered environments. In these settings, robots are expected to share the same workspace, interact physically, and collaborate with humans to achieve a common task. READ MORE