Graphical visualization of contact forces and hand movements during in-hand manipulation

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URI: https://hdl.handle.net/11556/2131
ISSN: 1946-0740
ISBN: 9781665499965
DOI: 10.1109/ETFA52439.2022.9921664
Publication date
2022
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Institute of Electrical and Electronics Engineers Inc.
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Abstract
The 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.
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Publisher Copyright: © 2022 IEEE.
Keywords
Grasping , Manipulation , Robotics , Tactile sensors , Electrical and Electronic Engineering , Control and Systems Engineering , Industrial and Manufacturing Engineering , Computer Science Applications
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conference output
Citation
Suarez , R & Montano , A 2022 , Graphical visualization of contact forces and hand movements during in-hand manipulation . in 2022 IEEE 27th International Conference on Emerging Technologies and Factory Automation, ETFA 2022 . IEEE International Conference on Emerging Technologies and Factory Automation, ETFA , vol. 2022-September , Institute of Electrical and Electronics Engineers Inc. , 27th IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2022 , Stuttgart , Germany , 6/09/22 . https://doi.org/10.1109/ETFA52439.2022.9921664
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