This letter presents a novel controller for robotic hands, which regulates the grasp stiffness by manipulating the pose and the finger joint stiffness of hands with multiple degrees of freedom while guaranteeing grasp stability. The proposed approach is inspired by the observations of human motor behavior, which reveal a coordinated pattern of stiffening among the hand fingers, along with a predictive selection of the hand pose to achieve a reliable grasp. The first adjusts the magnitude of the grasp stiffness, while the latter manipulates its overall geometry (shape). The realization of a similar control approach in robotic hands can result in a reduction of the software complexity and also promote a novel mechanical design approach, in which the finger stiffness profiles of the hand are adjusted by only one active component. The proposed control is validated with a fully actuated Allegro Hand, while trying to achieve predefined grasp stiffness profiles or modifications of an initial one.
|Titolo:||Grasp stiffness control in robotic hands through coordinated optimization of pose and joint stiffness|
|Citazione:||Garate, V.R., Pozzi, M., Prattichizzo, D., Tsagarakis, N., & Ajoudani, A. (2018). Grasp stiffness control in robotic hands through coordinated optimization of pose and joint stiffness. IEEE ROBOTICS AND AUTOMATION LETTERS, 3(4), 3952-3959.|
|Appare nelle tipologie:||1.1 Articolo in rivista|
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|RAL_2018.pdf||Accepted version. European Union (EU), Horizon 2020 programme. European project “Synergy-based Open-source Foundations and Technologies for Prosthetics and RehabilitatiOn” (SoftPro), Research & Innovation Action, Grant Agreement n. 688857. © 2018 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. Digital Object Identifier (DOI): 10.1109/LRA.2018.2858271||PDF editoriale||PUBBLICO - Pubblico con Copyright||Open Access Visualizza/Apri|