TY - GEN
T1 - Functional analysis of finger contact locations during grasping
AU - Ciocarlie, Matei
AU - Dang, Hao
AU - Lukos, Jamie
AU - Santello, Marco
AU - Allen, Peter
PY - 2009
Y1 - 2009
N2 - In this paper we present a method for studying human selection of fingertip contact point locations during grasping and manipulation. Our aim is to perform a functional analysis, looking at how a particular choice of contact point distribution affects the subjects' ability to resist external forces applied to the grasped object. We rely on grasp quality metrics derived from the Grasp Wrench Space, a method traditionally used for quantifying robotic grasps. We illustrate this approach by studying human grasps of a spherical object under a number of different disturbances. Our results indicate that the quality metrics we use can help explain the subjects' choice of contact points, although other possible grasping strategies may exist.
AB - In this paper we present a method for studying human selection of fingertip contact point locations during grasping and manipulation. Our aim is to perform a functional analysis, looking at how a particular choice of contact point distribution affects the subjects' ability to resist external forces applied to the grasped object. We rely on grasp quality metrics derived from the Grasp Wrench Space, a method traditionally used for quantifying robotic grasps. We illustrate this approach by studying human grasps of a spherical object under a number of different disturbances. Our results indicate that the quality metrics we use can help explain the subjects' choice of contact points, although other possible grasping strategies may exist.
UR - http://www.scopus.com/inward/record.url?scp=67649645068&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=67649645068&partnerID=8YFLogxK
U2 - 10.1109/WHC.2009.4810864
DO - 10.1109/WHC.2009.4810864
M3 - Conference contribution
AN - SCOPUS:67649645068
SN - 9781424438587
T3 - Proceedings - 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009
SP - 401
EP - 405
BT - Proceedings - 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009
T2 - 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009
Y2 - 18 March 2009 through 20 March 2009
ER -