RT Conference Proceedings
T1 Graphical visualization of contact forces and hand movements during in-hand manipulation
A1 Suarez, Raul
A1 Montano, Andres
AB 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.
PB Institute of Electrical and Electronics Engineers Inc.
SN 9781665499965
SN 1946-0740
YR 2022
FD 2022
LK https://hdl.handle.net/11556/2131
UL https://hdl.handle.net/11556/2131
LA eng
NO 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
NO conference
NO Publisher Copyright: © 2022 IEEE.
NO This work was partially supported by the Spanish Government through the project PID2020-114819GB-I00, and by EC research project REMODEL through the grant number: 870133.
DS TECNALIA Publications
RD 30 jul 2024