Browsing by Keyword "Grasping"
Now showing 1 - 2 of 2
Results Per Page
Sort Options
Item Graphical visualization of contact forces and hand movements during in-hand manipulation(Institute of Electrical and Electronics Engineers Inc., 2022) Suarez, Raul; Montano, Andres; ROBOTICA_FLEXThe paper presents a tool to graphically display the contact forces applied by the fingers of a robotic hand when doing grasping and in-hand manipulation. The forces are computed in two ways, on one side, directly using the measurements of tactile forces in the fingertips and, on the other, using the torques applied by the motors in the finger joints. The implemented tool also allows to command and move the real robotic hand by specifying the complete hand configuration or any single joint, and see graphically the hand simulation. Real results are shown using the Allegro hand with tactile sensors WTS-FT.Item Greifen mit hilfe von neuroprothesen - Prinzip und voraussetzungen für den gebrauch(2003-08-01) Mangold, Sabine; Keller, Thierry; Tecnalia Research & InnovationBy means of electric impulse neuroprotheses bring paralysed muscles to contraction. In spite of less force generating, swifter fatigue and less muskular selection compared to "normal" function, patients with complete paralyse of extremities attain simple functions to grasp at something for activities of daily living. The usage requires determined physically traits (e.g. sufficient muscular effort), mentally firmness and support by people associated with the person concerned.