NDLI: On the Importance of Asymmetries in Grasp Quality Metrics for Tendon Driven Hands

Content Provider	IEEE Xplore Digital Library
Author	Fu, J.L. Pollard, N.S.
Copyright Year	2006
Description	Author affiliation: Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA (Fu, J.L.)
Abstract	Grasp quality measures are important for understanding how to plan for and maintain appropriate and secure grasps for pick and place operations and tool use. Most grasp quality measures assume certain symmetries about the mechanism or the task. For example, contact points may be considered to be independent and identical, or an ellipsoidal measure such as the force manipulability ellipsoid may be used. However, many tasks have strong asymmetries, where wrenches in certain directions dominate. Tendon driven hand designs may also have strong asymmetries, leading to differing abilities to apply contact forces in different directions. This paper begins to explore empirically the validity of some of the symmetry assumptions employed by common grasp quality metrics. We examine the human hand and the shadow robot hand, and find that force abilities vary with finger choice and with location of the contact on the finger for both hands. However, while the human hand shows dramatic changes for different poses due to its asymmetric design, the shadow hand, with a symmetric design shows much smaller changes and resembles the assumption of identical and independent contact points reasonably well. Thus, we suggest that the underlying design of the hand is a very important factor to consider for grasp quality metrics and for grasp planning and control. The specific grasp quality metric we study in this paper also brings together a variety of previous research. We outline a linear programming approach for computing a grasp quality metric that includes tendon force constraints and contact constraints and can handle any task described as a polytope in wrench space
Starting Page	1068
Ending Page	1075
File Size	194893
Page Count	8
File Format	PDF
ISBN	1424402581
DOI	10.1109/IROS.2006.281812
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-10-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Tendons Force measurement Humans Torque Extraterrestrial measurements Intelligent robots USA Councils Ellipsoids Fingers Linear programming
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in