NDLI: Repetitive grasping with anthropomorphic skin-covered hand enables robust haptic recognition

Content Provider	IEEE Xplore Digital Library
Author	Takamuku, S. Fukuda, A. Hosoda, K.
Copyright Year	2008
Description	Author affiliation: Dept. of Adaptive Machine Syst., Osaka Univ., Suita (Takamuku, S.; Fukuda, A.; Hosoda, K.)
Abstract	Skin is an essential component of artificial hands. It enables the use of object affordance for recognition and control, but due to its intrinsic locality and low density of current tactile sensors, stable and proper manual contacts with the objects are indispensable. Recently, design of hand structure have shown to be effective for adaptive grasping. However, such adaptive design are only introduced to the fingers in existing works of haptics and their role in recognition remains unclear. This paper introduces the design of the Bionic Hand; an anthropomorphic hand with adaptive design introduced to the whole hand and fully covered with sensitive skin. The experiment shows that anthropomorphic design of hand structure enables robust haptic recognition by convergence of object contact conditions into stable representative states through repetitive grasping. The structure of the human hand is found to solve the issue of narrowing down the sensor space for haptic object recognition by morphological computation.
Starting Page	3212
Ending Page	3217
File Size	428174
Page Count	6
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4651175
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Skin Sensors Strain Fingers Haptic interfaces Joints Humans
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