Functional analysis of finger contact locations during grasping

Matei Ciocarlie, Hao Dang, Jamie Lukos, Marco Santello, Peter Allen

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Scopus citations

Abstract

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.

Original languageEnglish (US)
Title of host publicationProceedings - 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009
Pages401-405
Number of pages5
DOIs
StatePublished - Jul 8 2009
Event3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009 - Salt Lake City, UT, United States
Duration: Mar 18 2009Mar 20 2009

Publication series

NameProceedings - 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009

Other

Other3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009
CountryUnited States
CitySalt Lake City, UT
Period3/18/093/20/09

ASJC Scopus subject areas

  • Artificial Intelligence
  • Human-Computer Interaction
  • Control and Systems Engineering

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    Ciocarlie, M., Dang, H., Lukos, J., Santello, M., & Allen, P. (2009). Functional analysis of finger contact locations during grasping. In Proceedings - 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009 (pp. 401-405). [4810864] (Proceedings - 3rd Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, World Haptics 2009). https://doi.org/10.1109/WHC.2009.4810864