Page 65 - Human Inspired Dexterity in Robotic Manipulation

CHAPTER 5

Modeling and Human

Performance in Manipulating

Parallel Flexible Objects

Mikhail Svinin’*, Igor Goncharenko*, Victor Kryssanov*,
Motoji Yamamoto †
*
College of Information Science and Engineering, Ritsumeikan University, Kusatsu, Japan
†
Department of Mechanical Engineering, Kyushu University, Fukuoka, Japan

Contents
5.1 Introduction 61
5.2 Minimum Hand-Jerk Model 63
5.3 Minimum Hand-Force-Change Model 68
5.4 Hand Mass Identification 70
5.5 Experimental Results 72
5.5.1 Hand Mass Identification 74
5.5.2 Analysis of Reaching Movements 76
5.6 Discussion 79
5.7 Conclusions 81
Acknowledgments 82
References 82

Chapter Points
• The main goal is to develop models of human-like reaching movements in dynamic
environments.
• The models developed are verified with the use of a haptic simulator.
• The mass of the hand is also estimated with the use of a haptic simulator.
• The optimal control-based models produce satisfactory predictions.

5.1 INTRODUCTION

Modeling of human-like reaching movements is an important research
problem in robotics, biological cybernetics, computational neuroscience,
and computer animation [1, 2]. It has long been established that natural
human movement in free space is highly stereotypical and have two

Human Inspired Dexterity in Robotic Manipulation © 2018 Elsevier Inc.
https://doi.org/10.1016/B978-0-12-813385-9.00005-4 All rights reserved. 61